Static Measuring ModelandDeadweight Compensation ofaStewart Platform BasedForce/Torque Sensor

Thestatic measuring modelandthedeadweight compensation ofa Stewart platform basedforce/torque sensor havebeenstudied inthispaper.Firstly, somepreliminary kinematics ofthissensor ispresented. Coordinates attached to everylinksareestablished, andthetransforming relations betweenlinkframesandotherframesarederived. Then,the static measuring modelandthedeadweight compensation ofthe sensorareproduced. In themodeling, forces on linksare composed basedonananalytic method, andtheresultant forces andtorques obtained canbeusedasthemeasuring model. The weightneedtobecompensated ofthewholemechanismis divided intotwoparts: links weights andtopplatform weight. Thecompensation ofthelinksweights isinvolved instatic modeling. And thetopplatform weightiscompensated, subsequently. Finally, someexperiments arecarried out,andthe results verify thevalidity ofthestatic measuring modelandthe deadweight compensation. IndexTerms-Stewart platform, force/torque sensor, static model, deadweight compensation..