Design and optimization of a novel six-axis force/torque sensor with good isotropy and high sensitivity

Six-axis force/torque sensor plays an important role in many fields. A novel six-axis force/torque sensor based on strain gauge was designed and optimized with design of experiments (DOE) approach and response surface methodology. In order to reduce the errors bonding strain gauges, we adopted strain distribution analysis to acquire the accurately positions. The strain compliance matrix was attained by the signals from strain gauges bonded on the elastic body of the sensor. According to strain compliance matrix of the sensor we can obtain a sensor with rather good measurement isotropy, high sensitivity and natural frequency which is nearly as bandwidth of commercial six-axis sensor.