Novel Mechanically Fully Decoupled SixAxis ForceMoment Sensor In this study, a novel sixaxis forcemoment (FM) sensor was developed. The sensor has a novel ring structure comprising a crossbeam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce crosstalk effects caused by minimized structural interconnection. The forces Fx, Fy, and Fz and moments Mx, My, and Mz can be measured for the sixaxis FM sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum crosstalk errors along the following six axes under different loadings (the errors are presented in parentheses): Fx under SMy (2.12%), Fy under SMx (1.88%), Fz under SMz (2.02%), Mx under SFz (1.15%), My under SFx (1.80%), and Mz under SFx (2.63%). The proposed sensor demonstrated a considerably improved crosstalk error performance compared with existing force sensors.

Force Perception of Industrial Robot Based on Multiparameter Coupled Model The precision force sensing information of industrial robots to the environment is important for highprecision and flexible assembly operations. This paper proposed a calibration and calculation method to the contact force with the data from a sixdimensional forcetorque sensor, which is installed between the end of the robot and the endeffector. In the proposed method, a multiparameter coupled model was considered including the gravity of the endeffector, the zeropoint of the sensor and the installation angle of sixdimensional forcetorque sensor. The contact forcetorque could be precisely obtained using this model, and the influence of the gravity and zero drift of sensor can be compensated. Experiments were performed with KUKA iiwa. The results show that the forcetorque information was more precise with the coupled model.