Beam type hexapod structure based six component force–torque sensor

The platform of a hexapod is a part of the structure whose six degrees of freedom are constrained by six linearly independent line constraints. The six line constraints are utilized for developing simply supported, ”joint less” connector configuration for the transmission of axial forces. Six beam transducers are utilized to serve as a base of a hexapod structure. The applied wrench information is obtained by measuring the six forces on the beam transducers at the fixed base. The idea of “joint less” structure and beam transducers resolve issues of precision and sensitivity in measuring a very small wrench. The validity of the design is proved by developing a prototype sensor as well as conducting various experiments. The results of the experiments are discussed in detail.