RESEARCH PAPERS: Mechanisms Papers

Analysis, Properties, and Design of a Stewart-Platform Transducer

[+] Author and Article Information
D. R. Kerr

Department of Aeronautical and Mechanical Engineering, University of Salford, Salford, M5 4WT, UK

J. Mech., Trans., and Automation 111(1), 25-28 (Mar 01, 1989) (4 pages) doi:10.1115/1.3258965 History: Received March 28, 1988; Online November 19, 2009


This paper analyzes the behavior of a force transducer that has the form of a Stewart platform with instrumented elastic legs. The algebraic relationship between externally applied wrench and resulting leg extensions is derived, using the algebra of dual vectors. Using this model, and by suitable choice of dimensions, it is shown how the transducer can be designed to give the most advantageous behavior. A simple illustrative example is given.

Copyright © 1989 by ASME
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