Simulation-Driven Development and Optimization of a High-Performance Six-Dimensional Wrist Force/Torque Sensor

Abstract

This paper describes the Simulation-Driven Development and Optimization (SDDO) of a six-dimensional force/torque sensor with high performance. By the implementation of the SDDO, the developed sensor possesses high performance such as high sensitivity, linearity, stiffness and repeatability simultaneously, which is hard for tranditional force/torque sensor. Integrated approach provided by software ANSYS was used to streamline and speed up the process chain and thereby to deliver results significantly faster than traditional approaches. The result of calibration experiment possesses some impressive characters, therefore the developed fore/torque sensor can be usefully used in industry and the methods of design can also be used to develop industrial product.

Keywords

• Simulation-driven development of production
• Optimization
• Six-dimensional force/torque