新型六维腕力传感器弹性敏感元件的灵敏度特性分析

The Analysis of Sensitivity for a Novel Sense Organ of 6-Axis Robot Wrist Force Transducer

提出一种新颖的六维腕力传感器弹性敏感元件结构，定义并分析其灵敏度性能指标，为设计具有该结构的腕力／力矩传感器提供了理论依据。分析计算结果表明，该弹性敏感元件是灵敏度各项同性的。

A novel parallel architecture of 6-axis robot wrist force/torque transducer's sense organ is presented. The sensitivity index of the architecture is defined and analyzed, which is useful for the optimal design and application of the sense organ. The results show that the transducer's sense organ is characterized by sensitivity isotropy.