Publication

Hanyang University HumanRobotics Lab

International Journal
Optimal synthesis of a wrist-type 6 degree-of-freedom force/torque sensor using Stewart Platform Structure
Journal
KSME JOURNAL
Vol
Vol. 9, No. 4
Page
pp. 462-471
Author
W.-K. Kim, K.-K. Huh, B.-J Yi, and W. Cho
Year
1995
Date
1995.12
File
Optimal Synthesis of a Wrist-Type 6 Degree-of-Freedom ForceTorque Sensor Using Stewart Platform Structure.pdf (738.5K) 1회 다운로드 DATE : 2020-10-16 23:05:20
Abstrat: The FIT sensor investigated in this study utilizes the Stewart Platform Mechanism Structure. Normally-employed 6-prismatic joints are replaced by 6-prismatic bars, which are extensible and compressible only along the axial direction of the bars. The complete analyses for the design of this kind of FIT sensor are conducted: the position analysis, the first-order and second-order kinematic analyses, and the force-deformation analysis based on the first-order kinematic characteristics of the system. Lastly, a dimensional synthesis for the FIT sensor is performed based on the kinematic isotropic index.