Sensitivity analysis of a six degrees of freedom displacement measuring device

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Volumn 228, Issue 1, 2014, Pages 158-168

  Mura, Andrea ^a  

^a POLITECNICO DI TORINO   (Italy)

Author keywords

displacement sensor; inverse kinematic; parallel mechanism; sensitivity; Stewart platform

Indexed keywords

DISPLACEMENT SENSOR; GEOMETRICAL CHARACTERISTICS; GEOMETRICAL CONFIGURATIONS; MODIFIED STEWART PLATFORM; PARALLEL MECHANISMS; SENSITIVITY; SIX DEGREES OF FREEDOM; STEWART PLATFORMS;

INVERSE KINEMATICS; MECHANISMS; SENSITIVITY ANALYSIS;

ELECTRIC ARC WELDING;

EID: 84891473566     PISSN: 09544062     EISSN: 20412983     Source Type: Journal    
DOI: 10.1177/0954406213482071     Document Type: Article

References (22)

1. Stewart D. A platform with six degrees of freedom. Proc Inst Mech Eng London. 1965 ; 180: 371-386
2. Merlet JP Parallel Robots. 2 nd ed. Dordrecht, The Netherlands: Springer, 2006. Dordrecht, The Netherlands: Springer ; 2006 :
3. Zhang D. Parallel Robotic Machine Tools. Springer Science + Business Media LLC, 2010.
4. Rees-Jones J. (1987) Cross coordinate control of robot manipulators. In: Proceedings of International Workshop on Nuclear Robotic Technologies and Applications, University of Lancaster.
5. Kerr DR. Analysis, properties, and design of a Stewart-platform transducer. Trans ASME J Mech Transm Autom Des. 1989 ; 111: 25-28
6. Bicchi A. A criterion for optimal design force sensors. Rob Auton Syst. 1992 ; 10: 269-286
7. Dai JS, Kerr DR. Six-component contact force measurement device based on the Stewart platform. J Mech Eng Sci. 2000 ; 214 (5). 687-697
8. Sorli M, Zhmud N. Investigation of force and moment measurement system for a robotic assembly hand. Sens Actuators A. 1993 ; ML651: 37-38
9. Sorli M, Pastorelli S. Six-axis reticulated structure force/torque sensor with adaptable performances. Mechatronics. 1995 ; 5: 585-601
10. Ferraresi C, Pastorelli S, Sorli M, et al. State and dynamic behavior of a high stiffness stewart platform-based force/torque sensor. J Rob Syst. 2007 ; 12: 883-893
11. Dwarakanath TA, Dasgupta B, Mruthyunjaya TS. Design and development of a Stewart platform based force-torque sensor. Mechatronics. 2001 ; 11: 793-809
12. Hou Y, Yao J, Lu L, et al. Performance analysis and comprehensive index optimization of a new configuration of Stewart six-component force sensor. Mech Mach Theory. 2009 ; 44: 359-368
13. Yao J, Hou Y, Wang H, et al. Spatially isotropic configuration of Stewart platform-based force sensor. Mech Mach Theory. 2011 ; 46: 142-155
14. Zhenlin J, Feng G, Xiaohui Z. Design and analysis of a novel isotropic six-component force/torque sensor. Sens Actuators A. 2003 ; 109: 17-20
15. Liu SA, Tzo HL. A novel six-component force sensor of good measurement isotropy and sensitivities. Sens Actuators A. 2002 ; 100: 223-230
16. Li Y-J, Zhang J, Jia Z-Y, Qian M. A novel piezoelectric 6-component heavy force/moment sensor for huge heavy-load manipulator's gripper. Mech Syst Signal Process. 2009 ; 23: 1644-1651
17. Liu W, Li Y-J, Jia Z-Y, et al. Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor. Mech Syst Signal Process. 2011 ; 25: 331-343
18. Chao L-P, Chen K-T. Shape optimal design and force sensitivity evaluation of six-axis force sensors. Sens Actuators A. 1997 ; 63: 105-112
19. Mura A. displacement measuring device based on a modified Stewart platform. Mechatronics. 2011 ; 21: 1309-1316
20. Mura A. Multi-dofs MEMS displacement sensors based on the Stewart platform theory. Microsyst Technol. 2012 ; 18: 575-579
21. Curà F, Mura A, Sesana R. Ageing characterisation of metals for exhaust systems. Int J Autom Technol. 2012 ; 13 (4). 629-636
22. Nnaji BO Theory of Automatic Robot Assembly and Programming. London: Chapman &Hall ; 1993 :