Structure design of elastomer of miniature six-axis force/torque sensor based on Y-type beam

Abstract

In order to meet the measurement requirements of the end force of the robot finger, this paper designs a miniature six-axis force/torque sensor based on the Y-shaped beam. Mechanical modeling, static analysis, bridge selection and least square method decoupling are carried out on the proposed six-axis force/torque sensor, which ensures the feasibility of the scheme and measurement accuracy.