Journal of Mechanical Science and Technology

, Volume 33, Issue 6, pp 2883–2892 | Cite as

A novel parallel sensor with six rigid compliant limbs for measuring six- component force/torque

  • Yi LuEmail author
  • Yongli Wang
  • Yang Lu


A novel parallel sensor with six rigid/compliant hybrid limbs and six standard force sensors is developed for measuring the six-component force/torque. The measuring theory and performances are studied. A prototype of the robot hybrid hands with the parallel sensor is developed. A prototype of the parallel sensor is built up and its merits and performances are analyzed. A statics equation among the forces of the standard force sensors and the whole external load and a stiffness model of the parallel sensor are established based on its equivalent parallel mechanism. The force/torque of the parallel sensor is measured under the given external load. The theoretical solutions of the statics model of the parallel sensor are obtained and verified by both the experimental measuring solutions of the prototype of the parallel sensor and the simulation solutions of a FE model.


Parallel sensor Rigid compliant hybrid limb Six-component force/torque 


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The authors are grateful to Major Research Project (91748125) supported by National Natural Science Foundation of China.


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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  1. 1.College of Mechanical EngineeringYanshan UniversityQinhuangdao, HebeiChina
  2. 2.Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company LimitedQinhuangdao, HebeiChina

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