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Studies on a Stewart Platform based Force – Torque Sensor in a Near-Singular Configuration

For a mechanism at a near-singular configuration, a small applied force-torque in certain specific directions, can give rise to large forces in the links of the mechanism. This concept is used to design a near-singular flexure jointed Stewart Platform based force torque sensor sensitive to forces and moments in certain desired directions. Detailed parametric studies and computer simulation of the resulting leg forces in the Stewart Platform due to externally applied forces and moments have been conducted. The suitability of the chosen configuration for magnification in leg forces for force-torque application in specific directions is experimentally verified on a prototype hardware.