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Indexed by:期刊论文

Date of Publication:2010-01-01

Journal:PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE

Included Journals:SCIE、EI、Scopus

Volume:224

Issue:C6

Page Number:1359-1368

ISSN No.:0954-4062

Key Words:six-axis heavy force; load sharing beam; isotropic; sensitivity; Stewart platform

Abstract:A novel six-axis heavy force sensor based on the Stewart platform is proposed. To improve the capability of load bearing, the upper platform and the lower platform of the Stewart platform is fixed to a load sharing beam. Based on the deduced force/moment mapping matrix, the isotropy and sensitivity performance indices of the sensor are analysed comprehensively by employing the performance atlases. Theory analysis and experimental research of the effects of the load sharing beam on the performance indices are conducted. The results show that the change rule of the experiments basically agrees with the curve of theory, which provides necessary references of the theory and experiment for the design of a six-axis heavy force sensor with a large measuring range.