Stewart Platform 방시그이 6축 힘-토크 센서에 관한 실험적 해석

An Experimental Analysis on the Stewart Platform-Based 6 Axis Force-Torque Sensor

The paper presents the experimental analysis of a Stewart platform-based force-torque senor. The closed-form solution of forward kinematics of the Stewart platform is derived approximately by way of a linearization technique, and the solution is used in the force analysis of the force-torque sensor. An exper- mental studies show that the proposed method including gravity compensation algorithm is valid for Stew- art platform-based force-torque sensors. The performance of the developed force-torque sensor is evaluated in view of accuracy and linearity in measurements.