Development of 3UPU-I parallel sensor with six division-force limbs for measuring robotic wrist load

Kang, 2001, Closed-form force sensing of a 6-axis force transducer based on the Stewart platform, Sensors Actuators A, 90, 31, 10.1016/S0924-4247(00)00564-1 Jin, 2003, Design and analysis of a novel isotropic six-component force/torque sensor, Sensors Actuators A, 109, 17 Lu, 2008, Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs, Mech. Mach. Theory, 43, 1112, 10.1016/j.mechmachtheory.2007.08.002 Kim, 2017, A novel six-axis force/torque sensor for robotic applications, IEEE/ASME Trans. Mechatronics, 22, 1381, 10.1109/TMECH.2016.2640194 Kim, 2008, Development of 6-axis force/moment sensor for a humanoid robot’s intelligent foot, Sensors Actuators A, 141, 276, 10.1016/j.sna.2007.08.011 Yao, 2016, A 3-D printed redundant six-component force sensor with eight parallel limbs, Sensors Actuators A, 247, 90, 10.1016/j.sna.2016.05.041 Wright, 2013, A six degree-of-freedom thrust sensor for a labscale hybrid rocket, Meas. Sci. Technol., 24, 10.1088/0957-0233/24/12/125104 Li, 2007, Dynamic modeling and compensation of robot six-axis wrist force/torque sensor, IEEE Trans. Instrum. Meas., 56, 2094, 10.1109/TIM.2007.904553 Jacq, 2010, Thick-film multi-DOF force/torque sensor for wrist rehabilitation, Sensors Actuators A, 162, 361, 10.1016/j.sna.2010.01.014 Li, 2013, Research on a novel parallel spoke piezoelectric 6-DOF heavy force/torque sensor, Mech. Syst. Signal Process., 36, 152, 10.1016/j.ymssp.2012.03.016 Puangmali, 2012, Miniature 3-axis distal force sensor for minimally invasive surgical palpation, IEEE/ASME Trans. Mechatronics, 17, 646, 10.1109/TMECH.2011.2116033 Wang, 2013, Development of a six-axis force/moment sensor for wind tunnel model test, Meas. Sci. Technol., 24, 10.1088/0957-0233/24/11/115101 Niu, 2017, Measurement model and calibration experiment of over-constrained parallel six-dimensional force sensor based on stiffness characteristics analysis, Meas. Sci. Technol., 28, 10.1088/1361-6501/aa85d3 Zhao, 2016, Decoupling principle analysis and development of a parallel three-dimensional force, Sensor, 16, 1506, 10.3390/s16091506 Lu, 2013, Statics and stiffness analysis of a novel six-component force/torque sensor with 3-RPPS compliant parallel structure, Mech. Mach. Theory, 62, 99, 10.1016/j.mechmachtheory.2012.12.001 D.R. Walter, M.L. Husty, kinematic analysis of the Tsai 3-UPU parallel manipulator using algebraic methods, in: The 13th IFToMM World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 2011, June 19–25, pp. 1–10. Nurahmi, 2016, Reconfiguration analysis of a 4-RUU parallel manipulator, Mech. Mach. Theory, 96, 269, 10.1016/j.mechmachtheory.2015.09.004 Timoshenko, 1972