Development On The Pre-Strained Six Dimensional Force Sensor With The Stewart Platform Structure

At home and abroad the theory and experimental research about 6-DOF force/torque sensor are deep analyzed and synthesized. Based on these, the pre-strained 6-DOF force/torque sensor is further studied and analyzed. At the same time, the prototype of the pre-strained six-dimension force sensor on the Steward platform is produced. And the special calibration-load prototype based on it is developed.The static performance indices of the sensor rest with its static mathematics model. Therefore, in view of the convenient farther research, the thesis in detail deduces the Jacobian matrix of the 6-DOF force/torque sensor on the Steward platform, while the coordinate system is on the upper platform. It also studies the isotropy indices and generalized amplifying coefficients of the sensor.Considering all the factors of the force sensor together, such as isotropy indices, generalized amplifying coefficients, physical size and so on, a series of prior data is selected to be as configuration parameter. The prototype of the 6-DOF force/torque sensor on the Steward platform is modeled by PRO/E. And the static performance and dynamic performance of the sensor have been studied by using the FEM software-ANSYS. The inherent frequency is also acquired.The prototype of the Steward platform with six-axis force sensor and load platform is developed. The data-collection system is developed via VB, VC and assembly language. The static calibration system is developed at one time. At last the calibration rule of the Steward platform with 6-DOF force/torque sensor is offered. The reasons of errors are also analyzed.The research work of this thesis is very useful for the deep research of 6-DOF force/torque sensor. It is of great significant with the theoretical and practical values.