Analysis, Properties, and Design of a Stewart-Platform Transducer

Kerr, David

doi:10.1115/1.3258965

Cited by 97 publications

(46 citation statements)

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“…An additional goal is to use the same legs for other near-singular Stewart Platform based sensors and demonstrate sensitivity to external loads applied along different directions. 7 The extensive experiments done on the prototype, for the range of externally applied loads, did not show any noticeable hysteresis. the legs were measured by a calibrated P3500 Measurement Group strain indicator with an amplification setting of approximately 10,000 l-strain/V.…”

Section: Resultsmentioning

confidence: 96%

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A force–torque sensor based on a Stewart Platform in a near-singular configuration

Ranganath

Nair

Mruthyunjaya³

et al. 2004

Mechanism and Machine Theory

111

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Section: Resultsmentioning

confidence: 96%

“…Several researchers have also proposed the use of a Stewart Platform as a six component force-torque sensor (see for example, [5][6][7][8][9][10]). Hongrui et al [11] and Dasgupta et al [12] proposed a Stewart Platform in an isotropic configuration where the sensor is equally sensitive to all directions of applied forcetorque.…”

Section: Introductionmentioning

confidence: 99%

A force–torque sensor based on a Stewart Platform in a near-singular configuration

Ranganath

Nair

Mruthyunjaya³

et al. 2004

Mechanism and Machine Theory

111

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“…In the past two decades, there have been considerable developments in the field of parallel manipulators because they can be used as industrial robots [1], simulators [2], force/torque sensors [3], micro-manipulators [4], and parallel machine tool (PMT) [5].…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration of gantry hybrid machine tool based on estimation error and local measurement information

Tang

Men

2004

Int J Adv Manuf Technol

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This paper presents the kinematic calibration of a four degrees-of-freedom (DOF) hybrid machine tool based on a novel planar 3-DOFs parallel mechanism and a long movement of the worktable. Closed-form solutions are developed for both the inverse and direct kinematics about the parallel mechanism. The error model is built and the mechanism accuracy is investigated. Two types of kinematic calibration method are proposed by a simple measurement device. The first type of calibration method is based on estimation error, and can easy improve the machine tool accuracy quickly by estimating the error trends. The second type of kinematic calibration method is based on local measurement information, which includes the position errors and does not include the pose errors of the machine tool. The calibration tests showed the effectiveness of the calibration methods, which can be useful for the similar types of parallel machine tool.

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“…Kerr [2] analyzed a similar structure and enumerated some design criteria for the sensor structure. Other theoretical and experimental investigations were carried out by Romini and Sorli [3], and Sorli and Zhmud [4].…”

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confidence: 99%

A wrench-sensitive touch pad based on a parallel structure

Frigola

Ros

Roure

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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Abstract-Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most designs, the legs are connected to the base and the platform through balland-socket joints. Although the dry friction in each of these joints can be individually neglected, the integrated effect of twelve such elements becomes noticeable. Second, dynamical measurements might not be very accurate because the natural resonance frequency of the used structures is quite low even for relatively small dimensions. This dynamical response can be obviously modified with a proper mechanical design, but this increases the complexity of the sensor. This paper discusses the design and implementation of a touch pad based on a 6-axis force sensor and shows how the above limitations degrade its behavior. Moreover, it is shown how using a tensegrity structure both problems could be alleviated because ball-andsocket joints can be substituted by point contacts and the resonance frequency of the structure can be controlled by adjusting the static tensions of the tendons.Index Terms-touch pad, force sensor, wrench sensor.

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Analysis, Properties, and Design of a Stewart-Platform Transducer

Cited by 97 publications

References 0 publications

A force–torque sensor based on a Stewart Platform in a near-singular configuration

A force–torque sensor based on a Stewart Platform in a near-singular configuration

Kinematic calibration of gantry hybrid machine tool based on estimation error and local measurement information

A wrench-sensitive touch pad based on a parallel structure

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