Static Measuring Model and Deadweight Compensation of a Stewart Platform Based Force/Torque Sensor

Abstract

The static measuring model and the deadweight compensation of a Stewart platform based force/torque sensor have been studied in this paper. Firstly, some preliminary kinematics of this sensor is presented. Coordinates attached to every links are established, and the transforming relations between link frames and other frames are derived. Then, the static measuring model and the deadweight compensation of the sensor are produced. In the modeling, forces on links are composed based on an analytic method, and the resultant forces and torques obtained can be used as the measuring model. The weight need to be compensated of the whole mechanism is divided into two parts: links weights and top platform weight. The compensation of the links weights is involved in static modeling. And the top platform weight is compensated, subsequently. Finally, some experiments are carried out, and the results verify the validity of the static measuring model and the deadweight compensation