Design of a novel six-axis force/torque sensor based on strain gauges by finite element method

This paper presents a novel six-axis force/torque sensor based on strain gauges. Firstly, the six-axis force/torque sensor´s design criterion is systematically expounded by calibration matrix, condition number, coupling error, sensor accuracy, strain gauge sensitivity, sensor sensitivity and sensor stiffness. Secondly, a novel sensing element is designed and simulated by finite element method. Then, the performance of the sensor is obtained by analysis. In the end, the sensor was manufactured.