6-AXIS RETICULATED STRUCTURE FORCE TORQUE SENSOR WITH ADAPTABLE PERFORMANCES

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.