Measurement method of six-axis load sharing based on the Stewart platform

In this paper, a measurement method of six-axis load sharing based on the Stewart platform is presented. The force Jacobin matrix of the Stewart platform, the solution of forward kinematics of the Stewart platform and the deep beam element stiffness matrices were combined in the decoupling algorithm. The FEM model was established, and the results of FEM analysis agreed well with the calculation results from proposed method, which proves the effectiveness of the method of six-axis load sharing. Moreover, a six-axis heavy force sensor based on the Stewart platform was demonstrated in order to investigate the reasonability and validity of the six-axis load sharing model. And the experiment results verified the feasibility of the method.