Research on Piezoelectric Six-Dimensional Heavy Force Sensor with Four-Point Supporting Structure

In this paper, various measuring methods for force sensor of six-dimensional and heavy are researched. It chooses piezoelectric quartz as force sensing element, discusses its arrangement of spacial layout, and advances a new structure piezoelectric six-dimensional force sensor with four-point supporting which is used to measure six-dimensional force on huge heavy-load manipulator. The model is builded and analyzed by ANSYS software. Then experiments are designed to validate its feasibility. The results demonstrate that this kind of force sensor can measure six-dimensional and heavy force, and have excellent performances, such as high rigidity, good linearity, and high sensitivity.