Publication

Design, implementation, and performance analysis of a Stewart platform-based force sensor

Conference Article

Conference

International Research/Expert Conference: Trends in the Development of Machinery and Associated Technology (TMT)

Edition

10th

Pages

1-4

Doc link

http://ccuc.cbuc.cat/record=b3593119~S23*cat

File

Download the digital copy of the doc pdf document

Abstract

Many robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most spplications but, when accuracy is a must, two main limitations arise. First, in most designs, the legs are connected to base and platform through ball-and-socket joint and the integrated effect of such elements becomes noticeable. Second, dynamical measurements might not be very accurate because the natural resonance frecuency of the used structures is quite low even for relatively small dimensions. This paper discusses the developament of a force sensor based on an in-parallel structure and shows how the above limitations degrade its behaviour. Moreover, it shows how, using a tensegrity stucture, both problems could be alleviated because ball-and-socket joints can be replaced by point contacts and the resonance frequency can be controlled by adjusting the tensions of the tendons.

Categories

robots.

Author keywords

force sensor, tensigrity structure, ellipsoidal uncertainty set

Scientific reference

F. Roure, R. Frigola, L. Ros and F. Thomas. Design, implementation, and performance analysis of a Stewart platform-based force sensor, 10th International Research/Expert Conference: Trends in the Development of Machinery and Associated Technology, 2006, LLoret de Mar, Espanya, pp. 1-4, 2006, UPC, Barcelona, Espanya.