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Vol. 151, No. 4, April 2013, pp. 54-62




Design and Experiment of a Parallel Six-axis Heavy Force Sensor Based on Stewart Structure
Wei LIU, Qi LI, Zhenyuan JIA, Erdong JIANG

Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education,

Dalian University of Technology, 116024, PR China

Tel.: +86-0411-84708159

E-mail: lw2007@dlut.edu.cn



Received: 8 December 2012   /Accepted: 18 April 2013   /Published: 30 April 2013

Digital Sensors and Sensor Sysstems


Abstract: In this paper, the measurement principle of a parallel six-axis heavy force sensor based on the Stewart structure is presented to detect the multi-dimensional variable heavy forces in the process of extreme manufacturing. Firstly, load sharing ratio of six-axis heavy force is defined to denote the effect of load sharing. Then, with piezoelectric quartz as the pressure-sensitive component, a six-axis heavy force senor with high stiffness and good linearity based on the Stewart structure is designed. As to the problem that it is difficult to pre-tighten the measuring limbs, a six-site local pre-tightening method is presented. Finally, static calibration experiments of the sensor are conducted on the established calibration platform. Experiment results verify the feasibility and validity of the sensor, which has a large measurement range, good linearity, and can be widely used in the real-time measurement of multi-dimensional variable heavy forces in extreme environments.


Keywords: Stewart structure, Six-axis heavy force sensor, Load sharing, Six-site local pre-tightening method, Calibration experiment


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