Structural Design and Static Calibration of Six-axis Force/Torque Sensor

Abstract A six-axis force/torque sensor is designed to solve the problems of the sensor with a resistance strain gauge. For instance, if the adhesive layer of the resistance strain gauge is not firm, the elastic sensing beam will have plastic deformation. The cylindrical conductive rubber is used as the sensing unit, which can detect force/torque by the change of the piezoresistive values. The units are arranged in a spatial eight-point staggered manner, which can reduce the dimensional coupling from the structure. The sensor static calibration is systematically analyzed and researched. The linear decoupling model of the measurement system that incorporating the Least Squares algorithm is established to reduce the dimensional coupling. The new type of sensor structure and static linear calibration algorithm proposed in this paper have good practical applications and popularization values.