Design of Six-Component F/T Sensor with Flexible Fixed Ends

유연한 고정단을 가진 6축 F/T 센서의 설계

  • Lee, Bong-Hee (School of Mechanical Engineering, Chungbuk Nat'l Univ.) ;
  • Joo, Jin-Won (School of Mechanical Engineering, Chungbuk Nat'l Univ.)
  • 이봉희 (충북대학교 기계공학부) ;
  • 주진원 (충북대학교 기계공학부)
  • Received : 2010.02.12
  • Accepted : 2010.05.04
  • Published : 2010.06.01


This paper describes the design process of a six-component force/torque (F/T) sensor. The new six-component F/T sensor having leaf spring ends has been developed using a cross beam structure as the basic sensing element. Fundamental strain analysis of both ends fixed beam having a leaf spring structure is performed by finite element analysis. In order to obtain similar output sensing strains from the six component loads and minimize coupling strains, the optimal location of strain gages is determined and the strain gages are connected so that the bridge circuits with four strain gages would be balanced. Using leaf spring ends instead of rigid fixed ends, remarkable increment in output sensing strain can be achieved for two component forces. Several modifications in design result in a similar sensing strain of approximately $400\;{\mu}m/m$ for the six-component forces and moments, and a reduced coupling strain of $0\;{\mu}m/m$ between the forces and moments.


Six-Component Force/Torque Sensor;Leaf Spring Structure;Cross Type Beam;Coupling Strain


Supported by : 충북대학교


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