Spatially isotropic configuration of Stewart platform-based force sensor

This paper studies isotropic configuration of the Stewart platform-based force sensor using an analytic approach. The conditions leading to spatially isotropic configuration are introduced. The isotropic performance of the classical Stewart platform-based force sensor is studied, the result indicates that it is impossible to realize spatial isotropy in theory. A modified Stewart platform-based force sensor which can achieve spatial isotropy is proposed. In order to obtain spatially isotropic configuration, the analytic relations of key structural parameters leading to spatially isotropic configuration are derived. Classes of spatially isotropic configurations can be easily obtained from the analytic results. (C) 2010 Elsevier Ltd. All rights reserved.

本文采用解析方法研究了基于Stewart平台的力传感器的各向同性配置。介绍了导致空间各向同性配置的条件。研究了经典的基于Stewart平台的力传感器的各向同性性能，结果表明在理论上无法实现空间各向同性。提出了一种可实现空间各向同性的改进型基于Stewart平台的力传感器。为了获得空间各向同性配置，推导了导致空间各向同性配置的关键结构参数的解析关系。从解析结果中可以很容易地得到各类空间各向同性配置。© 2010 Elsevier Ltd.保留所有权利。