Design Of The Stewart Platform Based 6-Axis F/T Sensor And Its Calibration System

The main research in this thesis includes system composing of the Stewartplatform based 6-axis F/T sensor and design of every component, design ofstatic calibration system of the 6-axis F/T sensor, and application of the 6-axisF/T sensor in virtual robots' movement control system.Studying the static math model of the sensor is the foundation of studyingperformance indices. The static math model is researched and the relationshipbetween forces and strain is analyzed.System composing of the sensor is introduced. Design criterion of theforce sense organ structure of the sensor is analyzed. An optimization designmethod called "first careless processing then careful processing" is presentedand with it the structure of a robots' wrists used 6-axis F/T sensor is designed.Software to observe influence curves of design parameters to performanceindices is developed.Static calibration method, composing of calibration system and calibrationprocess of the 6-axis F/T sensor is studied. Software to acquire and process theoutput voltage signals of the 6-axis F/T sensor is designed.With a 6-axis F/T sensor as a six dimension movement controller, virtualrobots' movement control system is developed. The design principles of thesystem are introduced and two design instances of virtual robots are presented.The production in this thesis is valuable to further research on designmethod and application of the Stewart platform based 6-axis F/T sensor.