Structural Design and Static Calibration of Six-axis Force/Torque Sensor

Abstract A six-axis force/torque sensor is designed to solve the problems of with a resistance strain gauge. For instance, if adhesive layer gauge not firm, elastic sensing beam will have plastic deformation. The cylindrical conductive rubber used as unit, which can detect by change piezoresistive values. units are arranged in spatial eight-point staggered manner, reduce dimensional coupling from structure. static calibration systematically analyzed and researched. linear decoupling model measurement system that incorporating Least Squares algorithm established coupling. new type structure proposed this paper good practical applications popularization