Implementation of Stewart platform based force-torque sensor

Abstract

This paper deals with the development and implementation of a force-torque sensor based on the Stewart platform structure. The kinematic design is obtained based on minimum condition number criteria. Maximization of the signal to noise ratio is considered at various stages in arriving at various component shapes and dimensions. The interface and instrumentation design is also developed and discussed. Several experiments were carried out and the results are discussed. A peg in a hole experiment conducted in a force feedback loop demonstrates the implementation of force-torque sensors.