2026-09-18T22:34:08Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1123952022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
H. Harry Asada.
Ruiz, Maria Rosa, S.B. Massachusetts Institute of Technology
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2017-12-05T16:26:04Z
2017-12-05T16:26:04Z
2017
2017
http://hdl.handle.net/1721.1/112395
1012945189
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 43).
In this work, a six-axis load cell based on the geometry of a Stewart platform was developed. Its geometry and functional requirements were motivated by the needs of robotic limbs designed to be attached to human workers to support them in typically unergonomic positions. The sensor can measure forces and torques in six degrees of freedom, and can stably support the worker in various hanging positions while still being sensitive to load measurements in different directions. Furthermore, it is made from inexpensive, commonly available cantilever beam load cells. In the least accurate direction, Mx, our measurements were consistently 20% below the nominal applied load. In the most accurate directions, Fx, My, and Mz, our measurements were consistently within 5% of the nominal applied loads. Performance can be optimized using the condition number of the transformation matrix. The full-scale version of the hex sensor is also designed and optimized based on its condition number.
by Maria Rosa Ruiz.
S.B.
43 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design and analysis of a Stewart-platform-based six-axis load cell
Thesis
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<Abstract>In this work, a six-axis load cell based on the geometry of a Stewart platform was developed. Its geometry and functional requirements were motivated by the needs of robotic limbs designed to be attached to human workers to support them in typically unergonomic positions. The sensor can measure forces and torques in six degrees of freedom, and can stably support the worker in various hanging positions while still being sensitive to load measurements in different directions. Furthermore, it is made from inexpensive, commonly available cantilever beam load cells. In the least accurate direction, Mx, our measurements were consistently 20% below the nominal applied load. In the most accurate directions, Fx, My, and Mz, our measurements were consistently within 5% of the nominal applied loads. Performance can be optimized using the condition number of the transformation matrix. The full-scale version of the hex sensor is also designed and optimized based on its condition number.</Abstract>
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