Abstract: A small six-dimensional force and torque sensor, includes a cylindrical housing, a base disposed on the inner wall of the cylindrical housing, eight first elastic beams of the same size and structure for connecting the base, a central boss disposed at the center of the cylindrical housing, four second elastic beams of the same size and structure for connecting the central boss with the first elastic beams. The four second elastic beams are arranged in a cross shape. The eight first elastic beams and the four second elastic beams are respectively attached with a plurality of strain gauges, thus forming full bridge circuits. The sensor is simple in structure, small in size, can realize self-decoupling of the structure in six directions, and is suitable to be used in combination with current industrial systems.

Abstract: A small six-dimensional force and torque sensor, includes a cylindrical housing, a base disposed on the inner wall of the cylindrical housing, eight first elastic beams of the same size and structure for connecting the base, a central boss disposed at the center of the cylindrical housing, four second elastic beams of the same size and structure for connecting the central boss with the first elastic beams. The four second elastic beams are arranged in a cross shape. The eight first elastic beams and the four second elastic beams are respectively attached with a plurality of strain gauges, thus forming full bridge circuits. The sensor is simple in structure, small in size, can realize self-decoupling of the structure in six directions, and is suitable to be used in combination with current industrial systems.

Abstract: A novel six-dimensional force and torque sensor includes a central boss, a cylindrical housing arranged outside the central boss, and twelve elastic beams for connecting the central boss with the cylindrical housing. The twelve elastic beams are respectively provided with strain gauges as needed, and a bottom of the central boss is provided with a mounting hole for mounting a signal processing module. The present invention has the characteristics of self-decoupling, high rigidity, high natural frequency, desirable linearity, ideal repeatability and perfect hysteresis, and ability to measure a large torque (50 N·m). In addition, the sensor can be designed to have different measuring ranges and sensitivities by changing the dimensions of each of the elastic beams.

Abstract: A novel six-dimensional force and torque sensor includes a central boss, a cylindrical housing arranged outside the central boss, and twelve elastic beams for connecting the central boss with the cylindrical housing. The twelve elastic beams are respectively provided with strain gauges as needed, and a bottom of the central boss is provided with a mounting hole for mounting a signal processing module. The present invention has the characteristics of self-decoupling, high rigidity, high natural frequency, desirable linearity, ideal repeatability and perfect hysteresis, and ability to measure a large torque (50 N·m). In addition, the sensor can be designed to have different measuring ranges and sensitivities by changing the dimensions of each of the elastic beams.