Design Theory And Application Of The 6-Axis F/T Sensors Based On Stewart Platform Structure

The main research in this thesis includes performance indices definition of the Stewart platform based 6-axis F/T sensor, influence on sensor's static indices of coordinate system, prototype design of the 6-axis F/T sensors, static calibration and so on. Based on this research, the force-drive mode 6-DOF mouse is developed.Sensors static performance indices rest with its static mathematical model. Therefore, for convenience of the deep research, based on the person study last, the thesis deduces the one order static force influence coefficient matrix, force Jacobian matrix in detail. It analyzes the analytic relationship between the static mathematical model and the parameters including 5 Stewart platform structure parameters and 6 coordinate system parameters when the coordinate system changing. It lays the foundations for studying sensor's performance indices deeply.The Stewart platform based 6-axis F/T sensor's force and torque isotropy indices are studied, and the influence on these two indices when coordinate system changing is also studied in the thesis. For convenience of the sensor structure design, the indices atlases are plotted using physical model of the solution space theory. Based on these atlases, the law of the indices following the changing of force sensing element structure parameters is summarized.It defines the 6-axis F/T sensor's sensitivity and its sensitivity isotropy, and studies the influence on them when the coordinate system changing, and plots their atlases respectively. The thesis analyses how to use the sensitivity index and sensitivity isotropy index to design the sensors structure concretely.Several types of 6-axis F/T sensor prototypes and signal processing system are developed with considering all the factors, including force isotropy, sensitivity, physical size and so on. The static calibration system is developed also.Based on the 6-axis F/T sensor, force-drive mode 6-DOF mouse is developed. Especially the methods transforming forces to movement velocities are studied. The thesis develops virtual 6-SPS parallel robot system to test the mouse's control functions. The 6-DOF mouse has been used in micromanipulator robot system successfully.The theories and results obtained in this thesis are very useful for the deep research of 6-axis F/T sensor and 6-DOF mouse. It is a matter of great significance to promote the development of Robot intelligentizing in our country.