A six-dimensional force sensor (also known as a six-axis force sensor) is a sensor capable of simultaneously measuring the force (X, Y, Z directions) and torque (roll, pitch, yaw) of an object in three directions. Its working principle is based on the action of force and torque on sensitive elements such as strain gauges, piezoelectric elements, or optical fibers inside the sensor, thereby converting physical force and torque into electrical signals. It is mainly classified into resistance strain gauge type, capacitive type, piezoelectric type, and MEMS type.
Taking Xinjingcheng Sensors as an example, in the field of six-dimensional force sensors, Xinjingcheng provides products covering four major principles: resistance strain gauge, capacitive, MEMS and piezoelectric, ensuring that the best solution is tailored to the customer's different needs.
1. Resistance strain gauge
The core components of a six-dimensional force sensor typically include an elastic body and multiple resistance strain gauges. When an external force is applied to the sensor, the elastic body undergoes a slight deformation, causing a change in the resistance of the strain gauges attached to it. These resistance changes are converted into electrical signals via a Wheatstone bridge circuit or other conversion circuits, thereby enabling the measurement of force and torque.
2. Capacitor type
Capacitive six-dimensional force sensors sense changes in force by altering the distance, area, or dielectric constant between capacitor plates. When an external force is applied, the sensor's internal structure undergoes minute displacements, resulting in changes in capacitance. These changes are detected by precision circuitry and converted into force and torque values.
3. Piezoelectric
Piezoelectric six-dimensional force sensors operate based on the piezoelectric effect. When an external force is applied to a piezoelectric material (such as a piezoelectric crystal), the material generates an electric charge. Forces and torques of different directions and magnitudes result in different charge outputs. By measuring these charges and processing them using algorithms, six-dimensional force information can be obtained.
4. MEMS Principles
MEMS (Micro-Electro-Systems) are miniature systems that integrate mechanical components, sensors, and electronic devices. Xinjingcheng sensors utilize MEMS technology to accurately measure joint torque. Their compact size and highly integrated design allow for easy installation on robot joints, providing real-time force feedback and resulting in smoother, more natural robot movements.
Xinjingcheng's sensor products range in diameter from 9.5mm to 300mm, force range from 5N to 50KN, and torque range from 0.1N·m to 1000N·m, meeting the application needs of various six-dimensional force sensors.
In recent years, six-dimensional force sensors have been continuously optimized in terms of structural design and material selection. For example, the use of MEMS technology has enabled the miniaturization and high performance of the sensors.
Based on these principles and technologies, the six-dimensional force sensor can provide strong technical support for high-precision force control and sensing, and is widely used in fields such as industrial automation, robotics, aerospace and medical rehabilitation, and automobile manufacturing.
1. Robotics Technology: In robot joints or end effectors, six-dimensional force sensors can be used to sense and feedback external forces and torques, helping robots to perform precise operations and avoid obstacles.
Taking Xinjingcheng Sensors as an example, its six-dimensional force sensors are mainly used in the end-effectors and joints of walking robots, collaborative robots, assistive robots, robotic dogs, seven-axis robotic arms, polishing and grinding robots, and medical robots, as well as in the dexterous hands, joints, wrists and ankles of humanoid robots.
2. Aerospace: Used for structural health monitoring, attitude control, and dynamic analysis of aircraft and spacecraft.
3. Industrial Automation: Applications in industrial robots and assembly lines for precise control and force monitoring, such as welding, assembly, and gripping. For example, using a six-dimensional force sensor in conjunction with an ABB robot for screen assembly.
4. Medical equipment: Used in surgical procedures to assist in robotic surgery, ensuring the precision of the surgeon's operation.
5. Automobile manufacturing: In crash tests, it is used to measure the forces and moments experienced by a vehicle under different collision conditions.
6. Force feedback device: In virtual reality or haptic feedback devices, a six-dimensional force sensor is used to enhance immersion and simulate the tactile response of real objects.
