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Jin Zhenlin
Robotics Institute,
Beijing University of Aeronautics
and Astronautics,
Beijing 100083, China
Gao Feng
Robotics Research Center,
Hebei University of Technology,
Tianjin 300130, China
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OPTIMAL DESIGN OF A 6-AXIS
FORCE TRANSDUCER BASED ON
STEWART PLATFORM RELATED TO
SENSITIVITY ISOTROPY*
Abstract: The design method of a 6-axis force robot's transducer based on the Stewart platform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of the transducer are defined, and by the aid of computer, the relationships between the criteria and the parameters of all the transducers based on the Stewart platform are investigated within the geometric model of the solution space, which can provide the theoretical background for the optimal construction design of the 6-axis force transducer related to the sensitivity isotropy.
Key words:
6-axis force robot's transducer Optimal construction design Stewart platform
Sensitivity isotropy
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