Research on a Multi-Axis Wrist Force Sensor with Double Bending Beams

First of all, a new multi-axis wrist force sensor with double bending beams was designed to meet the requirements of the intelligent manipulator. The new structure was easy to process and install. The impact of deformation, error and asymmetry caused by machining and aging treatment was avoided, and the performance of sensor was improved. Secondly, mechanical model of the sensor was established, and the force analyses from different directions were made. Thirdly, after strain gauges were pasted and the bridge was designed, loading tests to single beam and whole sensor were carried out, theoretical calculation and finite element analysis were completed, and the relative error was analyzed. Finally, the causes of relative error in different loading test were studied, and a solution of sensor calibration was put forward.