Calibration of a Pre-stressed Stewart Platform-based Forcre/Torque Sensor

Abstract

This paper presents the calibration of a novel parallel architecture of pre-stressed six-component force/torque sensor based on the Stewart platform. The structure feature of the sensor is analysed in comparison with the traditional Stewart platform-based sensor. The mathematical expression of the sensor's force mapping matrix is built by using the screw theory. The static calibration device for the sensor is designed and the signal processing system is developed. Two different calibration methods are proposed and applied to the static calibration experimentation of the prototype. The calibration and error matrices of the prototype are worked out. The computed results prove the correctness of the theoretical analysis and the validity of the calibration methods