A Novel Geometric Design Method of Elastic Structure for 6-Axis Force/Torque Sensor

Han Shin Choi, Yeong Geol Lee, Man Bok Hong, Yong Je Choi

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


We present a novel design method of a 6-axis Force/Torque (F/T) sensor with identical stiffness in all directions. In contrast to common F/T sensor designs, the proposed method is an analytical approach to the realization of a desired diagonal stiffness matrix which implies the complete decoupling of the stiffnesses in all directions. The first step of the design is to group the column vectors of a given rank 6 diagonal stiffness matrix into in-plane type and out-of-plane type stiffnesses. Each type of stiffnesses is then synthesized by means of three line vectors and designed as the corresponding serial-chain for a limb of an F/T sensor using only circular hinges. The F/T sensor can be formed by connecting the designed two serial-chains in series. However, for a practical design with minimum structural error and better strength, each of two type stiffnesses is further divided into a set of n separate serial-chains. Finally, the n -sets of serial-chains each consisting of six circular hinges that correspond in-plane and out-of-plane type stiffnesses are connected to the moving platform in parallel to complete the design. The FEM analysis and experiments are conducted to verify the proposed design method.

Original languageEnglish
Article number8903302
Pages (from-to)166564-166577
Number of pages14
JournalIEEE Access
Publication statusPublished - 2019

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

All Science Journal Classification (ASJC) codes

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)


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