Design and development of a Stewart platform based force–torque sensor

• Published in: Mechatronics (Oxford) 2001-10, Vol.11 (7), p.793-809
• Main Authors: Dwarakanath, T.A., Dasgupta, Bhaskar, Mruthyunjaya, T.S.
• Format: Article
• Language: English
• Subjects: Applied sciences; Degrees of freedom (mechanics); Drives; Exact sciences and technology; Force control; Fundamental areas of phenomenology (including applications); General equipment and techniques; Instruments for strain, force and torque; Instruments, apparatus, components and techniques common to several branches of physics and astronomy; Linkage mechanisms, cams; Measurement and testing methods; Measurement methods and techniques in continuum mechanics of solids; Mechanical engineering. Machine design; Mechanical instruments, equipment and techniques; Physics; Sensitivity analysis; Sensors; Sensors (chemical, optical, electrical, movement, gas, etc.); remote sensing; Signal to noise ratio; Solid mechanics; Structural and continuum mechanics; Torque
• ISSN: 0957-4158; 1873-4006
• DOI: 10.1016/S0957-4158(00)00048-9

This paper details the design and development of a force–torque sensor based on the Stewart platform structure. The optimal synthesis of the sensor structure is performed with the objective of achieving well-conditioned transformation between the input and output forces. The influence of size of platform on sensitivity and the load bearing capacity are discussed in the light of capabilities of available sensing elements. Thus, the design is obtained by satisfying the dual objective of isotropy and sensitivity of the force–torque sensor. Maximization of signal to noise ratio (S/N ratio) is considered at various stages in arriving at various component shapes and dimensions. The above design has been implemented in the development of a compact force–torque sensor.