Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

Miniaturisierter Kraft-Momenten-Sensor auf Basis einer gerollten Hexapod-Struktur

Sebastian Matich 1 , Markus Hessinger 1 , Mario Kupnik 1 , Roland Werthschützky 1 , and Christian Hatzfeld 1
  • 1 Technische Universität Darmstadt, Institute of Electromechanical Design, Merckstr. 25, 65283, Darmstadt, Germany


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

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