Aiming at issues of complex decoupling calculation

difficult to determine range and poor practicability

etc

in process of design and manufacture of parallel six-axis force sensor

mapping matrix from sixdimensional external force in space to measure axial force of branches is deduced with screw theory applied; based on engineering practice

time-function model for measuring axial force of branches by parallel structure six-axis force sensor is proposed and set up; a kind of determination method for measuring range of branches in designated work environment is put forward. Take the Stewart parallel structure for example

aimed at curve polish work

measuring range of branches measuring is determined

then validity and feasibility of time function model are verified. The research contents have important practical value to improve the engineering practicability of parallel structure six-axis force sensor.