Design and development of a Stewart platform based force–torque sensor

Design and optimization of a novel six-axis force/torque sensor for space robot

“…The Stewart platform structure was usually adopted especially. T.A.Dwarakanath [12], Jin Zhenlin [13], Zhen-yuan Jia [14] devised force-torque sensors based on this structure, respectively. Zhijun Wang [15] designed a novel fully pre-stressed six-axis force/torque sensor with double layers of Stewart platform structure.…”

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

“…A number of options were considered [16,32,34] and a ring type section, shown in Fig. 10, was studied in detail.…”

“…Typically, the force in the leg is measured in the form of strain and a strain sensing element such as strain gage is used. Dwarakanath et al [32] report the usage of ring shaped sensing element in the Stewart Platform sensor built by them. Abe et al [16] propose a 'H' slit beam to achieve a sensitive unidirectional deformation for the measurement of small force/torques with overload protection.…”

Simply supported, ‘Joint less’ parallel mechanism based force–torque sensor

“…McInroy et al [4] and Ranganath et al [5] used flexure joints for hexapod structures. Dwarakanath et al [6] reported the development of stiff force-torque sensor based on the Stewart Platform with shape optimization of the legs to minimize the Noise to Signal ratio. Various authors carried out theoretical investigations of the behavior of the Stewart platform based sensor.…”