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.
| Original language | English |
|---|---|
| Pages (from-to) | 1030-1033 |
| Number of pages | 4 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 36 |
| Issue number | 8 |
| State | Published - Aug 2004 |
Keywords
- Force sensing system
- Parallel robot
- Statics
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