Two-dimensional (2D) axis-pin force sensor and its characterization on the shear force direction

The characterization of the shear force direction is an imperative technical problem to be solved for the axis-pin force sensor. In the present work, a two-dimensional axis-pin force sensor has been designed. The layout of the sensor is to open horizontal blind holes and vertical blind holes at intervals of 90 degrees along the circular direction on the surface of the axis-pin. Then the variation law of the circumferential strain of blind holes along with the shear force direction is first studied through the FEA simulation. It is found that the sum of the circumferential strains of two horizontal blind holes or vertical blind holes varies in sine and cosine pattern with the shear force direction. On this basis, the mathematical model of shear force direction characterized by circumferential strains of blind holes is derived. Eventually, the prototype of the axis-pin force sensor was made to verify this law. The experimental results showed that the accuracy of the shear force and direction measured by the sensor can reach +/- 8% and +/- 5% respectively, which meet the requirements of the practical application. This method eliminates the theoretical error caused by the use of correction coefficients and nonlinear model approximation, which provides a theoretical basis for the development of two-dimensional axis-pin force sensors.