Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

• DOI: 10.1515/teme-2017-0046
• Publication Date: 2017-09-20T10:01:25Z
• Authors: Sebastian Matich; Markus Hessinger; Mario Kupnik; Roland Werthschützky; Christian Hatzfeld
• Keywords: Hexapod; Strain gauge; Linearity; Stewart platform

Abstract Miniaturized force/torque sensors are relevant components for robotic interaction with humans and unknown environments. This paper presents a disruptive manufacturing process multiaxial based on Stewart-Gough platform. The deformation element consists of hexapod geometry six sensing elements total diameter 9 mm. sensor is divided into three steps: 1. Milling planar arrangement out 2 mm steel (1 .4301) plate, 2. applying twelve strain gauges in half-bridge configuration 3. rolling the structure. dimensions scalable to adjust size nominal measurement range sensor. first prototype has measuring 4 N 66 mNm. characterization shows maximal linearity hysteresis error 1.16% cross-sensitivity smaller than 2.76% .