6-DoF Force/Torque Sensor

This study has development of a 6-DoF force/torque sensor for the robot arm, including the design, analysis, implementation and test verification of the sensing structure, digital multi-axis read circuit and nonlinear calibration module. We has build-up a multi-axis force/torque platform to test the 6-DoF force/torque sensor which we developed. The test results show that the force/torque range of the 6-DoF force/torque sensor can reach Fx/Fy/Fz=±980N/±980N/±980N and Tx/Ty/Tz=±156Nm/±156Nm/±156Nm respectively, while the maximum nonlinearity is 0.67%, the maximum hysteresis is 0.48%, and the maximum Crosstalk is 1.08. %.