Design of a Three-Axis Force Sensor Using Decoupled Compliant Parallel Mechanisms

摘要

Multiaxis force sensors are integral to a wide range of high-tech applications, including robotics and machine monitoring. However, a significant challenge in their use is the high cross-axis coupling, which detrimentally affects measurement accuracy. To address this critical issue, this article presents a comprehensive design method for multiaxis force sensors. This approach utilizes compliant parallel mechanisms, effectively decoupling the measured forces on multiple axes and enabling precise and independent measurement of each component force within the multiaxis system. Focusing on three-axis force sensors as a case study, this article elucidates the proposed design principle. The comprehensive study covers system configuration, mechanical design, analytical modeling, numerical simulation, prototype development, and experimental evaluation. The resultant three-axis force sensor, prior to calibration, exhibits an average coupling error of just about 1.5%, underscoring its superior decoupling capability. The design concept and methodologies outlined here offer valuable insights for the development of self-decoupling multiaxis force sensors, advancing the field significantly.