Novel decoupled and isotropic 6-axis force/torque robot sensor

Abstract

The design feature of a novel 6-axis force/torque robo t sensor based on parallel 6-SPS architecture is presented.The isotropy index o f the sensor and the transformation between of force and strain are analyzed, w hich is useful for the optimal design and application of the sensor. The results show that the sensor is decoupled and isotropic.Because the elastic joints are proposed for replacing the real spherical joints,the sensor has dexterous archit ecture and good technological advantage. It can be applied to robotic wrist and finger,etc.