Design and analysis of a miniature 4-dimensional force/torque sensor

This paper describes the design of a 4-dimensional fingertip F/T sensor that measures normal force f_z, both tangential force terms f_x, f_y, and the torque about the normal axis M_z simultaneously, which are of vital importance for the gripper to grasp or hold any object. The Elastic Element (EE) structure featured with an annular diagram and flexible beams, and its static and dynamic performances are involved via ANSYS. At last, the arrangement and attachment strategies of strain gauges are planned. The proposed sensor possesses advantages such as simple and miniature configuration, high sensitivity, and isotropy. Finally, the experiment of the proposed sensor was conducted and validated.