A Novel Six-Axis Heavy Force Sensor

The measurement of six-axis force is the base of coordinate control, but there are still no six-axis heavy force sensors in most of big load operation equipments for the contradiction of six-axis and heavy force. So with combining the parallel load sharing principle and the principle of six-axis force measurement of Stewart structure, a novel method of six-axis heavy force measurement is presented. Based on the new method, a finite element model of six-axis heavy force piezoelectric sensor is established, and then the static and dynamic simulations are made. Results indicate that there are good load sharing effectiveness and dynamic characteristic with six-axis heavy force sensor. In the end, the structure parameters are optimized with respect to the ability of load sharing, and the result indicates that the ability of load sharing is improved obviously after optimization.