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The Analysis of Sensitivity for a Novel Sense Organ of 6-Axis Robot Wrist Force Transducer

Jin Zhenlin) (The College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004). (Gao Feng), (Hebei University of Technology, Tianjin 300130).  
A novel parallel architecture of 6-axis robot wrist force/torque transducer's sense organ is presented. The sensitivity index of the architecture is defined and analyzed, which is useful for the optimal design and application of the sense organ. The results show that the transducer's sense organ is characterized by sensitivity isotropy.
【Fund】: 国家“863”计划资助项目!编号863-521-04-02-98。
【CateGory Index】: TP212
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