Design of a Six Axis Force-Torque Sensor with a Cross-Shaped Structure

십자형 구조를 가진 6축 힘.토크센서의 설계

The necessity of six axis force-torque sensors have been increased in the field of automatic assembly, polishing and deburing using robotic manipulator recently. This paper presents a simple and compact elastic structure design of the six axis force-torque sensor with a cross-shaped structure and the expected deflection value was induced by theoretical method to design a six axis force-torque sensor and then this theoretical method was verified by comparing with the results using the Finite Element Method(FEM).