Modular design and development methodology for robotic multi-axis F/M sensors

Qiao Kang Liang, Dan Zhang, Gianmarc Coppola, Wan Neng Wu, Kun Lin Zou, Yao Nan Wang, Wei Sun, Yun Jian Ge, Yu Gea

Research output: Journal article publicationJournal articleAcademic researchpeer-review

8 Citations (Scopus)


Accurate Force/Moment (F/M) measurements are required in many applications, and multi-axis F/M sensors have been utilized a wide variety of robotic systems since 1970s. A multi-axis F/M sensor is capable of measuring multiple components of force terms along x-, y-, z-axis (F x, F y, F z), and the moments terms about x-, y- and z-axis (M x, M y and M z) simultaneously. In this manuscript, we describe experimental and theoretical approaches for using modular Elastic Elements (EE) to efficiently achieve multi-axis, high-performance F/M sensors. Specifically, the proposed approach employs combinations of simple modular elements (e.g. lamella and diaphragm) in monolithic constructions to develop various multi-axis F/M sensors. Models of multi-axis F/M sensors are established, and the experimental results indicate that the new approach could be widely used for development of multi-axis F/M sensors for many other different applications.

Original languageEnglish
Article number24689
JournalScientific Reports
Publication statusPublished - 22 Apr 2016
Externally publishedYes

ASJC Scopus subject areas

  • General


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