Six component force-torque sensors using Gough-Stewart platform manipulators

The six-degrees-of-freedom GoughStewart platform manipulator is a promising alternate architecture for the mechanical design of a six component force-torque sensor. Two basic configurations of the Gough-Stewart platforms are used for the design of six component force-torque sensors. In an isotropic configuration, equal sensitivity for all the six components of the force and torque being measured can be obtained. In a singular configuration, large mechanical magnification can be obtained for certain selected components of the force and torque, and, as a consequence, very small forces and/or torque along the selected directions can be measured. In this paper, we revisit the use of the Gough-Stewart platform manipulator as a sensor. Algorithms to determine the isotropic and singular configuration of the Gough-Stewart platform manipulator are presented. Two specific configurations of the Gough-Stewart platform with enhanced sensitivity to selected components of external forces and torque are taken up for analysis, design, fabrication and testing. Experimental results show that the prototype six component force-torque sensors can measure the external forces and torques as designed.