Task-oriented design method and research on force compliant experiment of six-axis wrist force sensor

This paper analyzes the task-oriented design method of six-axis force sensor and proposes the task model of the sensor. The task mathematical model of the sensor is established based on the idea of task ellipsoid. The models of force ellipsoid and moment ellipsoid are also established. The relational expression between the task model and ellipsoid model of sensor is obtained. Then, a fully pre-stressed dual-layer parallel six-axis wrist force sensor is proposed, whose static mathematical model is also established. The sensor task model for assembly work is proposed and the analytical expression between the sensor structure parameters and task model is deduced. According to the assembly work, the sensor structure is designed specifically, and the specific structure sizes of the sensor are obtained. Then the new sensor prototype manufactured for peg-in-hole assembly is processed. The calibration experiment and peg-in-hole assembly experiment on the prototype are completed and each performance index is well examined by the experiment results. The experiment results also lay the foundation for the practical application of six-axis force sensor.