A versatile flexure-based 6-axes force/torque sensor and its application to tribology

TL;DR

This paper presents a flexible, backlash-free 6-axes force/torque sensor with wireless monitoring and visual inspection capabilities, demonstrated through tribology applications like low friction and contact monitoring.

Contribution

A novel flexure-based 6-axes force/torque sensor design that overcomes drawbacks of existing sensors, enabling wireless, visual, and precise multi-directional force measurements.

Findings

Successfully measured low friction under ultra-high vacuum.

Performed multi-directional friction tests on elastomer contacts.

Monitored contact position using force/torque data.

Abstract

Six-axes force/torque sensors are increasingly needed in mechanical engineering. Here, we introduce a flexure-based design for such sensors, which solves some of the drawbacks of the existing designs. In particular, it is backlash-free, it can be wirelessly monitored, it exactly enforces 90 degrees angles between axes, and it enables visual inspection of the monitored system thanks to its hollow structure. We first describe the generic design, implementation and calibration procedure. We then demonstrate its capabilities through three illustration examples relevant to the field of tribology: low friction measurements under ultra-high vacuum, multi-directional friction measurements of elastomer contacts, and force/torque-based contact position monitoring.