Dynamic Characteristics Analysis of the Six-Axis Force/Torque Sensor

Figure 3

The crossbeam elastomer of the six-axis wrist F/T sensor. (a) The schematic diagram of the elastomer. (b) Mechanical model of crossbeam elastomer under . (c) The simplified statics model of the elastomer under . (d) Deformation of the beam under force.

(a)

(b)

(c)

(d)