Strain Analysis of a Six Axis Force-Torque Sensor Using Cross-Shaped Elastic Structure with Circular Holes

摘要

The necessity of six axis force-torque sensors is well recognized in the fields of automatic fine assembly, deburring polishing, and automatic fish processing using robotic manipulators. The paper proposes a simple and compact elastic structure of the force-torque sensor which senses externally applied three force and three torque components. Rough surface strain distribution of the elastic structure is examined analytically, and then more accurate surface strain are obtained from finite element analysis. The compliance matrix which is a linear relationship between force components and strain measurements is obtained for the proposed sensor. Some basic principles of measuring 3 force and torque components are also presented.