| Abstract For the Stewart type pre-strained six dimensional force transducer, which put forward by Professor ZhaoYongsheng, the structure and mechanism parameters are abstracted and studied in line with the static and dynamic performances of the transducer. The spatial model of transducer is introduced at first. The transducer抯 isotropic measure and its atlases with the structure parameters are discussed. The problem of transducer抯 sensitivity is discussed, and furthermore, the transducer抯 generalized amplifying coefficient is defined based on the mapping matrix between platforms applied forces and the axial force vector of six branches, and its atlases with the mechanism parameters are given. The influence of transducer抯 spherical hinge friction moment on axial forces of six branches is discussed and the generalized friction moment amplifying coefficient is defined, and the atlases of this friction moment amplifying coefficients are presented in terms of the mechanism parameters. At last, the static and dynamic performances of the transducer are studied and animated by using the FEM software ANSYS. The free frequency of this kind of transducer has been systemically researched and the variations of the transducer抯 frequency are acquired in terms of mechanism and structure parameters of the transducer. The nondimensional parameters used in this thesis make the research results be applicable to the whole dimensional series of the transducers, from vibration testing platform to robot wrist force sensor to robot hand knuckle force sensor. The research work of this thesis is of great significant and very useful to the design and research of this type six-dimensional of force transducer. The research work of this thesis establishes theoretical basis for the further research and development of this new type six dimensional force transducer. The result of this paper is of great significant with the theoretical and practical values.
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