Design and Performance Research of Six-Dimensional Force Sensor with a Central Hole

In the current booming development of robot technology, six-dimensional force sensors have broad application prospects. However, when installed at the end of a robotic arm, they face wiring challenges that limit their applications. This paper proposes a design for a six-dimensional force sensor with a central hole. The sensor is based on the strain-gauge measurement principle. The mechanical structure design is described in detail, including a unique three-beam elastic body structure and the parameters of each part. Finite element simulation is used to conduct static stress analysis, structural stress-strain analysis, and modal analysis on the elastic body. The results show that under various load conditions, the stress and strain of the elastic body meet the design requirements. The maximum equivalent stress under full load is far lower than the yield limit of the material, ensuring the strength and reliable performance of the sensor. The working frequency range of the sensor is determined to be 0Hz-2900Hz. This design effectively solves the wiring problem during installation and provides new ideas for the design of six-dimensional force sensors at the end of robotic arms, which has important academic and application value.