Numerical Simulation Research On The Hyperstatic Six-Dimension Force/Torque Sensor Based On Stewart Platform

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 large measure range 6-DOF force/torque sensor is further studied and analyzed.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 MasterCAM, change the file style to Ansys , lead into Ansys by the data interface 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 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.