Static analysis on new force sensing system of 6-DOF parallel robot

Abstract

A new force sensing system of 6-DOF parallel robot was proposed by integrating 6 pull-press sensors on the 6 linkages. The analytic relationship between the force measured by sensors and the real force undertaken by the moving-flat was also built up. So the force acting on the moving-flat is determined by measuring the 6 sensors. Considering the self-gravity of the linkages, analyze the statics of the force sensing system. By using 6-PTRT parallel robot with the new force sensing system, a realistic experiment result is proved to be feasible.