A Magnetoelastic Six-Dimensional Force/Torque Sensor

Abstract

To address the demand for accurate end-effector force perception and force closed-loop control in robotic arms with limited workspace, a miniaturized 6-D magnetoelastic force/torque sensor based on inverse magnetostriction is proposed. The sensor’s force-magneto-electric mathematical model is established, and the elastomer structure’s optimization parameters are determined through theoretical modeling and static simulation. A positional layout scheme for the sensor’s sensitive and conversion components is proposed. Static calibration and electromagnetic interference experiments reveal the sensor’s static characteristics, including nonlinear error, repeatability error, sensitivity, and interdimensional coupling properties. A least-squares static linear decoupling algorithm is introduced to realize interdimensional coupling, achieving 1.65% force measurement linearity (0.852 mV/N sensitivity) and 1.85% torque measurement linearity (15.8 mV/N<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\cdot $ </tex-math></inline-formula>m sensitivity). Experimental results demonstrate the sensor’s feasibility and applicability.