Design and fabrication of a six-component force/moment sensor

A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

“…In Figure 6 the loading condition with the hypothesis that load torque M y = F x L is equally divided between beam-1 and beam-3 is represented. Rotation of the angle θ 1 can be computed as in [30], considering that the additional contribution to stiffness of the beam-2 and beam-4 that can be modeled as a torsion spring of stiffness k t = l b /( GJ p ): ${\theta }_1=\frac{\frac{F_{x}L}{2}}{\frac{12E{J}_{\xi }r}{l_b^3}\left(r+\frac{l_b}{2}\right)+\frac{12E{J}_{\xi }}{l_b^2}\left(\frac{r}{2}+\frac{l_b}{3}\right)+k_t}$ ${\varepsilon }_{xB1}={\varepsilon }_{xB1,u}=-{\varepsilon }_{xB1,l}=\frac{6h{\theta }_1}{l_b^2}\left[\left(r\left(\frac{x_1}{l_b}-\frac{1}{2}\right)+l_b\left(\frac{x_1}{2l_b}-\frac{1}{3}\right)\right)\right]$ ${\varepsilon }_{xB2}={\varepsilon }_{xB2,u}=-{\varepsilon }_{xB2,l}=\frac{6h{\theta }_1}{l_b^2}\left[\left(r\left(\frac{x_2}{l_b}-\frac{1}{2}\right)+l_b\left(\frac{x_2}{2l_b}-\frac{1}{3}\right)\right)\right]$…”

Resistive Sensors

“…Using finite element methods (FEM) techniques the sensitivity matrix can be calculated and the geometry can be optimized to a minimum coupling of the forceÀ torque components (see for instance Refs [10,11]). However, tolerances in the positioning of the gauges and in the geometry of the spring element make calibration of the sensor necessary for accurate measurements of the force and torque vectors.…”

A novel parallel piezoelectric six-axis heavy force/torque sensor

“…Traditional six-axis force sensors are mostly used to measure small force or static force, and have disadvantages, such as complex structure, large size, and low rigidity or difficult decoupling. Most of them adopt strain as force sensing element [1][2][3][4][5][6][7].…”