A 3-D printed redundant six-component force sensor with eight parallel limbs

In this paper, the design, manufacture and calibration test of a 3-D printed parallel six-component force sensor are presented. Aiming at improving the measuring performances and downsizing the outline of six-component force sensor, a novel redundant parallel six-component force sensor with spoke structure combining parallel mechanisms with flexible mechanisms is proposed. The mathematical model of the proposed sensor is established by screw theory which reveals the force mapping relationship. Considering the structure particularity, three-dimensional printing technology is innovatively applied to manufacture six-component force sensor prototype and main details regarding manufacture are described. Calibration tests for the sensor prototype are also carried out. Based on the data recorded in experiments, the calibration matrix is obtained and its performances such as non-linearity, repeatability and hysteresis are analyzed, which show good results in six-component force measurement.