| A multi-axis force/torque sensor is a critical component of an automated assembly system for extending the capability of manipulation and assembly, especially with contact tasks that require mechanical operations involving interaction with the environment or objects. It provides a true "feel" of what is actually occurring with the environment. In this thesis, we design a fingertip-size, six-axis force/torque sensor based on a Stewart Platform structure. We develop the kinematic model of the sensor and develop the Jacobian matrix by which the force and torque can be computed. A geometric model of the solution space is utilized for optimal sensor design. Performance evaluation criteria are proposed and their atlases are plotted in the solution space. These atlases show how the variation of the parameters of the sensor mechanisms affects the performance of the sensor. An optimal design of the sensor mechanism is achieved using the performance atlases. |
