A new force sensing system of 6-dof parallel robot was proposed by integrating 6 pull-press sensors on the 6 linkages.
通过在6 - DOF(6自由度)并联机器人各个杆件上集成拉、压力传感器，组成了新型力感觉系统。
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By means of guidance command decomposed forwardly, the combined control system is divided into two parallel subsystems: the aerodynamics subsystem and the direct force subsystem.
The result shows that superfluous force is less in double valve parallel control system than that in single valve control system, and the precision of dynamic loading is increased.