Theoretical analysis of a six-axis force/torque sensor with overload protection for polishing robot

摘要

Obtaining the force condition of the polishing manipulator in polishing process of the robot is the key technology to polish the wheel hubs automatically and intelligently. If the technology can be effectively addressed, the level of industrialization will be improved significantly. A new type of six-axis force/torque sensor is presented in the paper with overload protection and decoupling of force structurally. The force measurement principle and structural features are described in the paper. Finite element analysis is applied to analyze the elastic deformation in sensitive areas. Based on the theory, this paper completes the calibration to analyze repeatability, linearity and coupling of the sensor. The results show high sensitivity and small interference of dimension, which meet the requirements of measuring forces in polishing process. It provides a theoretical support for the design of six-axis force/torque sensor.