Abstract:Based on the idea of redundant fault tolerance and measurement reconstruction, this paper proposes a redundant orthogonal parallel sixdimensional force sensing mechanism with reconfigurable measurement model, and carries out related theoretical analysis and experiment research. The flexibility matrix theory is used to establish the stiffness model of the mechanism, and the correctness of the modeling method is verified through simulation. The prototype of the designed force sensing mechanism was developed, the calibration test bench was built, and the reconfiguration experiments on the measurement model were conducted, in which different measurement branch combination was selected according to different dimensional forces. The experiment results show that after the reconfiguration of the measurement model of fivedimensional force and threedimensional force, the measurement accuracy increases by 129% and 319%, respectively. The multidimensional force sensing mechanism with reconfigurable measurement model realizes the multidimensional force measurement facing to different measurement tasks, which provides theoretical and experiment bases for the study of redundant sixdimensional force sensing mechanism.