Design and implementation of data acquisition board for F/T sensor embedded in robot end-effector

In the field of robotics, force-torque sensors are usually used to control multi-axial force-torque. The performance of force-torque sensors depends on the elastic structure, which serves as a sensor frame, and the sensitivity of the strain gauge. To ensure better performance of force-torque sensors, the transducer should be comprised of an elastic structure and a strain gauge. It is also extremely important for the data acquisition board, responsible for signal data processing, to be well-designed. In this paper, we carried out a performance evaluation of components based on conformance of hardware configuration to specifications of the data acquisition board for force-torque sensors embedded in robot end-effector, adequacy of components, and linearity testing of signal.