A low-cost Stewart platform-based multi-axis force/torque sensor using strain gauges

This paper introduces a new approach to build a multi-axis force/torque sensor using a low-cost pre-made strain gauge-based load cells available on the market. Multiple load cells are attached to a rigid Stewart platform, which is designed to decouple multi-axis force/torque values into force components, thereby estimating the multi-axis force/torque components using the decoupled force components. In this paper, the design methodology of the proposed multi-axis force/torque sensor including a theoretical approach are described on how to design the sensor platform geometry, and its actual prototype based on the theoretical method. This was fabricated using a rigid platform, load cells, and an electrical circuit for amplifiers. Finally, a set of experiments were carried out to verify the methodology using the prototype through a calibration process, and sensing performances were described in more detail.