The constructional and operating characteristics of a six-component fo
rce/torque sensor are described. A description is provided of the meth
od used to design the sensor structure, which is based on an articulat
ed Stewart platform architecture. Particular attention is given to the
correlation between the geometry of the six arms consisting of six co
mmercial force transducers which join the sensor's two end platforms,
and the measurement ranges along the six axes. This design flexibility
results in a measuring device which guarantees the maximum integratio
n with the envisaged application. A description of the measurement dev
ice's major static characteristics and of the data acquisition and dis
play hardware architecture is given.