2006
DOI: 10.1016/j.mechatronics.2006.03.013
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Simply supported, ‘Joint less’ parallel mechanism based force–torque sensor

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Cited by 32 publications
(12 citation statements)
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“…Ranganath et al developed a new non-singular version of the Stewart platform six-dimensional force sensor [ 7 ]. Dwarakanath developed a six-dimensional force sensor based on the Stewart parallel structure, and performed structural optimization [ 8 , 9 ]. Wright et al invented a six degree-of-freedom thrust sensor for a lab-scale hybrid rocket [ 10 ].…”
Section: Introductionmentioning
confidence: 99%
“…Ranganath et al developed a new non-singular version of the Stewart platform six-dimensional force sensor [ 7 ]. Dwarakanath developed a six-dimensional force sensor based on the Stewart parallel structure, and performed structural optimization [ 8 , 9 ]. Wright et al invented a six degree-of-freedom thrust sensor for a lab-scale hybrid rocket [ 10 ].…”
Section: Introductionmentioning
confidence: 99%
“…Durand changed the traditional Stewart structure and put piezoelectric quartz inside the Stewart structure and pre-tightened it [ 6 ], therefore, the sensor was more compact and could be used to measure tensions. Dwarakanath et al [ 7 , 8 ] introduced the usage of ring-shaped sensing element in the Stewart platform sensor, and presented a simply supported, ‘joint less’ six-axis parallel force sensor. Kim et al [ 9 ] put forward a six-axis wrist force sensor using FEM for an intelligent robot.…”
Section: Introductionmentioning
confidence: 99%
“…This problem is generally addressed using some form of parallel sensing mechanism since such structures have the advantages of stability, a high loading capability, zero error accumulation, and a high accuracy [8,9,10,11,12,13,14,15,16]. Dwarakanath and Venkatesh [17] proposed a simple “joint-less” parallel mechanism for force-torque sensing, in which the degrees of freedom of the structure were constrained by linearly-independent line constraints. Ranganath et al [18] designed a force/torque sensor based on a Stewart platform with a near-singular configuration and optimized the structure in such a way as to achieve a well-conditioned transformation between the input and output forces.…”
Section: Introductionmentioning
confidence: 99%