Effect of Fillet on the Resolution of a Four-Axis Force/Torque Sensor

The wrist force/torque sensors has been increasingly used in a variety of robotic fields which the most important one is human-computer interactions. Applied features of the force/torque sensors have motivated scientists to investigate novel techniques with regard to save machining costs and time before fabricating them. This paper represents the effect of fillet as a practical manufacturing method to decrease the costs and time and increase the resolution of a four axis force/torque sensor, simultaneously. In addition, a kind of face machining technique is performed to aim the proposed goals. Using finite element analysis of commercial finite element software, ABAQUS, is then implemented to validate the proposed model. The results prove the efficiency of the methods

Keywords:

force and torque sensor , human-computer interaction , cross-beams , fillet , finite element analysis