Simply supported, ‘Joint less’ parallel mechanism based force–torque sensor

The platform of a hexapod is constrained to be a part of the structure whose six degrees of freedom are constrained by six linearly independent line constraints. The six line constraints are utilized for developing simply supported, ‘joint less’ six component parallel mechanism based force–torque sensor. The idea, model analysis, mechanical design and instrumentation are presented. The validity of the design is proved with prototype arrangements, two practical numerical examples and experimental results.