Structural design of six-dimensional force sensor elastomer based on composite beam

A small six-dimensional force sensor has been designed with a composite structure consisting of three crossbeams and three vertical beams. To facilitate analysis of the strain distribution in the elastomer, a local coordinate system was established using the coordinate transformation matrix, and strain analysis was simplified by exploiting symmetry. The mechanical model of the strain beam was established using the Timoshenko beam theory. Finite element technology was used to analyze the strain and stress distribution under various load conditions, ensuring the feasibility and measurement accuracy of the scheme.