Sensors and Actuators A 118 (2005) 127–134

Development of the 6-axis force/moment sensor

for an intelligent robot’s gripper
Joong-Jo Park, Gab-Soon Kim∗
ERI, Department of Control and Instrumentation Engineering, Gyeongsang National University, 900 Gazwa-Dong,
Jinju, Kyungnam, 660-701, Republic of Korea

Received 15 April 2003; received in revised form 20 July 2004; accepted 21 July 2004
Available online 25 September 2004

Abstract

This paper describes the development of the 6-axis force/moment sensor for an intelligent robot’s gripper. The intelligent robot’s gripper
should detect the forces Fx (x-direction force), Fy and Fz in the gripping direction and in the gravitational direction to safely grasp an
unknown object. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in
the grippers. Therefore, the intelligent robot’s gripper should be composed of the 6-axis force/moment sensor which can measure the forces
Fx, Fy and Fz, and the moments Mx, My and Mz, simultaneously. But the grippers are mostly made with a force sensor that may detect only
one-direction force. In this paper, the 6-axis force/moment sensor to make the intelligent robot’s gripper is newly modeled using parallel-plate
beams (PPBs), designed and fabricated.
© 2004 Elsevier B.V. All rights reserved.

Keywords: 6-Axis force/moment sensor; Intelligent robot’s gripper; Parallel-plate beam; Rated strain; Interference error; Rated output

1. Introduction safely grasping an unknown object, and it also needs to de-

The 6-axis force/moment sensor for an intelligent robot’s
gripper has widely been studied recently. Ceccarelli et al. [1]
made the robot’s finger with a force sensor that may only
detect the force in the grasping direction, and performed the
position and the force controls for gripping an unknown ob-
ject. Castro et al. [2] manufactured the jaw gripper with the Fx
force sensor and carried out the force control using it. Tlale
et al. [3] fabricated the intelligent gripper with the contact
sensor and a circuit for controlling it.
The above grippers can’t not only stably grasp an unknown
object but also accurately perceive the position of the object
in the grippers, because they can’t detect the forces Fx, Fy
and Fz, and the moments Mx, My and Mz, simultaneously.
The intelligent robot’s gripper needs to detect the forces in
the gripping direction and in the gravitational direction for
∗ Corresponding author. Tel.: +82 55 751 5372; fax: +82 55 757 3974.
E-mail address: gskim@nongae.gsnu.ac.kr (G.-S. Kim).
tect the moments to accurately perceive the position of the
object in the grippers. Thus, the robot’s gripper should be
composed of a 6-axis force/moment sensor which may de-
tect the forces Fx, Fy and Fz, and moments Mx, My and Mz,
simultaneously. BL AUTOTEC [4] developed many kinds of
the 6-axis force/torque sensor, but most they get the other
resolution in each component sensor, for example, the model
F/T5/50 (capacity of force sensors: 5 kgf, capacity of torque
sensors: 50 kgf cm) has the resolutions of 5 gf, 5 gf, 15 gf,
30 gf, 30 gf and 30 gf in the Fx, Fy, Fz sensors and the Mx,
My, Mz sensors, respectively, and the model NATO 1.2/1
also has 0.8 gf, 0.8 gf, 2.5 gf, 0.5 gf, 0.5 gf and 0.7 gf, re-
spectively. It means that the rated outputs when the rated
loads (maximum forces and moments) are applied to the 6-
axis force/moment sensor are different respectively, in other
words, the sensitivities of each component sensor are differ-
ent, respectively. NISSO ELECTRIC WORKS CO., LTD. [5]
also developed the multi-component load cell, it also has the
same peculiar character as those of the 6-axis sensors of BL

0924-4247/$ – see front matter © 2004 Elsevier B.V. All rights reserved.
doi:10.1016/j.sna.2004.07.013
128 J.-J. Park, G.-S. Kim / Sensors and Actuators A 118 (2005) 127–134

AUTOTEC. It is required that each component sensor of the

6-axis force/torque sensor generally get the same rated output
to accurately detect forces and torques. Also, it is necessary
that the structure of each sensor with the same capacity (ex,
Fx = Fy = Fz = 50 N, Mx = My = Mz = 5 Nm) or different
capacity (ex, Fx = Fy = 50 N, Fz = 60 N, Mx = My = 3 Nm,
Mz = 5 Nm) in each force component and moment compo-
nent is designed according to using for various purpose in an
intelligent robot’s gripper. But it is very difficult that the struc-
ture (sensing element) of the sensor is complex. Thus, that
important thing in the 6-axis force/moment sensor is newly
modeling having the structure of each sensor with the same
and different capacity. The developed 6-axis force/moment
sensors in references [6–11] are improper as an intelligent
robot’s gripper in the accuracy (interference error) and in the
Fig. 1. The different Cartesian coordinates of an unknown object and tow
size. So, it is necessary to develop the 6-axis force/moment robot’s grippers.
sensor having the structure of each sensor with the same and
different capacity and low interference error for an intelligent

robot’s gripper. respectively, Fk = Fx2 + Fy2 + Fz2 is the magnitude of the
In this paper, the 6-axis force/moment sensor to be used force applied to the 6-axis force sensor and ak is the unit
as an intelligent robot’s gripper for safely grasping an un- vector in the force direction. Finally, the force vector F̄  =
known object and accurately perceive the position of the ob- −mgāx , that is, Fx = −mg, where m is mass of an unknown
ject in the grippers are developed. The 6-axis force/moment object and g is the gravity acceleration.
sensor which may detect the forces Fx, Fy and Fz (each max- Because the 6-axis sensor measures the weight of an un-
imum capacity is 50 N), and moments Mx, My and Mz (each known object, the force vector F̄ can be expressed as
maximum capacity is 5 Nm) simultaneously is newly mod- 

eled using parallel-plate beams (PPBs), designed and fab- F̄ = Fk āk = − Fx2 + Fy2 + Fz2 āx = −mgāx (3)
ricated. Finally, the characteristic test of the manufactured
6-axis force/moment sensor is performed. The structure of Thus, the weight of an unknown object mg can be calcu-
the 6-axis force/moment sensor newly modeled may be var- lated by using Eq. (3). The force Fx is the measured value
iously designed with the same capacity or different capacity from the Fx sensor, whereas the forces Fy and Fz are from
in each force component and moment component. the Fy and Fz sensor.
The length vector l̄ of an unknown object, and the moment
vector M̄ of the moment components in x, y, z frame can be
2. Calculation of force and position in the robot’s respectively written as
gripper
l̄ = lx āx + ly āy + lz āz (4)
In order to safely grasp an unknown object and accurately M̄ = Mx āx + My āy + Mz āz (5)
perceive the position of the object in the grippers, the equa-
tions to calculate the force of the gravitational direction and where lx , ly and lz are the length components in x, y and z
the length components lx , ly and lz in x, y and z direction direction, and Mx , My and Mz are the measured values from
should be derived. Fig. 1 shows the different Cartesian coor- the Mx, My and Mz sensors, respectively.
dinates of an unknown object and tow robot’s grippers. The
Cartesian coordinates of the grippers and the unknown object M̄ = Mx āx + My āy + Mz āz (6)
are represented in x, y, z and x , y , z frames, respectively.
Defining the moment vector M̄ as the length l̄ cross prod-
The force vector F̄  of an unknown object in x , y , z frame,
uct F̄ , the moment vector M̄, and the moment components
and the force vector F̄ of the gripper in x, y, z frame can be
Mx , My and Mz can be, respectively, represented as
respectively expressed as
F̄  = Fx āx + Fy āy + Fz āz (1) M̄ = l̄ × F̄ = {āx (ly Fz − lz Fy ) + āy (lz Fx − lx Fz )
+ āz (lx Fy − ly Fx )} (7)
F̄ = Fx āx + Fy āy + Fz āz = Fk ak (2)
Mx = ly Fz − lz Fy (8a)
where Fx , Fy , Fz are the force components in each x , y ,
z direction, āx , āy , āz are the unit vectors in each x , y , z My = lz Fx − lx Fz (8b)
direction, Fx , Fy , Fz are the force components in x, y, z
direction, āx , āy , āz are the unit vectors in x, y, z direction, Mz = lx Fy − ly Fx (8c)
 J.-J. Park, G.-S. Kim / Sensors and Actuators A 118 (2005) 127–134
where Mx , My and Mz are the moment components in x, y
and z direction, respectively.
Thus, the position of the object in the grippers, that is,
the distance lengths from the center point (O) of the 6-axis
force/moment sensor to the contact point (P) of the object
and the 6-axis force/moment sensor lx , ly and lz in x, y and
z direction can be calculated by Eqs. (8a)–(8c).
3. 6-Axis robot’s finger force/moment sensor
3.1. Modeling of the sensor
Fig. 2 shows the structure of newly modeled the 6-axis
force/moment sensor which may detect the forces Fx, Fy
and Fz, and the moments Mx, My and Mz for the intelligent
robot’s gripper system. The sensing elements of the 6-axis
force/moment sensor are composed of by fixing E block part
of two sensors with screws. One is a 5-axis force/moment
sensor, which is composed of the Fx, Fy and the Fz sensors,
and the Mx and My sensor, the other is the Mz sensor. Block
A and B, and C and D are fixed to the frame of robot’s gripper
with screws.
The sensing elements of the Fx sensor and the My sensor
are PPB 1 and 2, those of the Fy sensor and the Mx sensor are
PPB 3 and 4, those of the Fz sensor are PPB 5, and those of the
Mx sensor are PPB 6 and 7. PPB 1, 2, 3 and 4 are composed
of two plate beams with the width b1 , the heights t1 and t2
the length l1 , and the distance from the central line to the end
of the beams d1 , d2 , d3 , d4 , respectively, those of PPB 5 is
Fig. 2. Structure of newly modeled the 6-axis force/moment sensor for
robot’s gripper.
129
with b2 , t2 , l2 , d5 , d6 , and those of PPB 6 and 7 are with b3 ,
t3 , l3 , d7 , d8 , respectively. As shown in Fig. 2, the PPB 1–7
are symmetrical on the x-axis, y-axis and z-axis. The forces
and the moments are applied to the plate beams through the
lower load-transmitting block A and B that is located at the
lower part, and the upper load-transmitting block C and D
that is located at the upper part of the 6-axis force/moment
sensor.
3.2. Theoretical analysis
3.2.1. Under the applied force Fx or Fy
Fig. 3 shows the free body diagram of the plate beams for
the Fx sensor or the Fy sensor under the force Fx or Fy. PPB
1 and 2 are symmetrical on the vertical axis (x-axis), and the
plates beam 1 and 2 are symmetrical on the horizontal axis (z-
axis), and also the plates beam 3 and beam 4 are symmetrical
on the horizontal axis. Thus, the equations for analyzing the
strains are derived on the upper and the lower surfaces of the
plate beam 1, and these may be applied to the plate beam 2,
3 and 4. The equations under the force Fx may be applied to
PPB 3 and 4 for the Fy sensor, because PPB 1, 2 and 3, 4 are
same in the structure.
When the force Fx is applied to the block between PPB
1 and 2, the force FFxx applied to plate beam 1 along to x-
direction at point z = 0 is derived, and the moment MFxy
applied to plate beam 1 along to y-direction at point O is
derived using the moment equilibrium condition Mo = 0.
The moment Mz at arbitrary point z can be derived using the
force FFxx and the moment MFxy , and which is
 
Fx l1
Mz = x− (9)
4 2
The equations for analyzing the rated strains on the sur-
faces of the plate beam 1 are derived by substituting the Eq.
(1) into the bending equation ε = Mz /EZ1p , which can be
written as
 
Fx l1
εFx−U = z− (10a)
4EZ1p 2
Fig. 3. Free body diagram of the plate beams for Fx sensor or Fy sensor
under the force Fx or Fy.
130 J.-J. Park, G.-S. Kim / Sensors and Actuators A 118 (2005) 127–134

equations ε = F/A2 E, which can be written as

   
6t2 x l2
εFz−U = 3 v + d5 + φ
l2 2
   
6t2 v d5 l2 d6 φ
− 2 + + φ + (14a)
l2 2 2 3 l2

   
6t2 x l2
εFz−L =− 3 v + d5 + φ
l2 2
Fig. 4. Free body diagram of the plate beams for Fz sensor under the force    
Fz. 6t2 v d5 l2 d6 φ
+ 2 + + φ − (14b)
  l2 2 2 3 l2
Fx l1
εFx−L = −z (10b)
4EZ1p 2 where εFz−U is the strains produced on the upper surface of
each plate beam 5, and εFz−L is the strains produced on the
where εFx−U is the strains produced on the upper surface of lower surface of each plate beam 5.
each plate beam 1, and εFx−L is the strains produced on the
lower surface of each plate beam 1.
3.2.3. Under the applied moment Mx or My or Mz
Fig. 5 shows the free body diagram of the plate beams
3.2.2. Under the force Fz
for the Mx sensor or the My sensor or the Mz sensor under
Fig. 4 shows the free body diagram of the plate beams
the moment Mx or My or Mz. PPB 3 and 4 are symmetrical
for the Fz sensor under the force Fz. PPB 5 is composed of
on the vertical axis (y-axis), and the plates beam 7 and 8 are
the plates beam 5 and 6, and they are symmetrical on the
symmetrical on the horizontal axis (z-axis), and also the plates
horizontal axis (y-axis) and the same in the size. Thus, the
beam 9 and 10 are symmetrical on the horizontal axis (z-axis).
equations for analyzing the strains are derived on the upper
Thus, the equations for analyzing the strains are derived on
and the lower surfaces of the plate beam 5, and these may be
the upper and the lower surfaces of the plate beam 7, and these
applied to the plate beam 6.
may be applied to the plate beam 8, 9 and 10. The equations
When the force Fz is applied to the block end O2 , the
under the moment Mx may be applied to PPB 1 and 2 for the
force FFzz applied to plate beam 5 along to z-direction and the
My sensor and PPB 6 and 7 for the Mz sensor, because these
moment MFzy applied to plate beam 5 along to y-direction are
PPBs are same in the structure.
derived, and the equations of the force equilibrium condition
When the moment Mx is applied to the block center
Fz = 0 and the moment equilibrium condition Mo = 0 are
point P, the force FMxz applied to plate beam 7 along to z-
derived. The rotational angle φ and the vertical displacement
direction, the force FMxy applied to the plate beam 7 along to
v can be derived using the derived equations, and which leads
y-direction, and the moment MMxx applied to the plate beam
to
7 along to x-direction are derived using the vertical displace-
(2d5 + l2 )Fz ment v and the rotational angle θ at the end point z = 0 of the
φ= (11)
(48EI2 / l22 )((3/2)d5 + (2/3)l2 ) + (4A2 Ed62 / l2 ) plate beam 7. Substituting these equations into the derived
equation of the moment equilibrium condition MP = 0, the
Fz − 24EI2 / l22 (d5 + (l2 /2))φ rotational angle θ at the center point P of the block between
v= (12)
24EI2 / l22

The moment Mx at arbitrary point x on the plate beam 5

can be written

Mx = FFzz x − MFzy
   
12EI2 x l2
= v + d5 + φ
l23 2
   
12EI2 v d5 l2
− 2 + + φ (13)
l2 2 2 3

The equations for analyzing the rated strains on the sur-

faces of the plate beam 5 are derived using the bending equa- Fig. 5. Free body diagram of the plate beams for Mx sensor or My sensor
tion ε = Mx /EZ2p , and the tension and compression strain or Mz sensor under the moment Mx or My or Mz.
 J.-J. Park, G.-S. Kim / Sensors and Actuators A 118 (2005) 127–134 131

PPB 3 and 4 can be represented 3.4. Design of the sensing elements of each sensor

Mx /4 The sensing elements (PPBs) of each sensor in the 6-axis

θ=
(12EI1 / l12 )(d3 + (l1 /3) + (d32 / l1 )) + (A1 Ed42 / l1 ) force/moment sensor are designed having high translational
(15) and tortional stiffness, and low interference error. The de-
sign variables of each sensor are the rated capacity, the rated
strains, the widths, the lengths, the heights of the plate beams,
The equations for analyzing the rated strains on the sur- the distances from the central line to the end the beams, and
faces of the plate beam 7 are derived using the bending equa- the locations of strain gages considering the size of the strain
tion ε = M/EZ1p , and the tension and compression strain gage [5]. The variables for designing the 6-axis force/moment
equations ε = F/A1 E, which can be written as sensor are determined as follows:
  

6h d3 l1 l12 l1 d4 (1) The rated capacities of the Fx, Fy and Fz sensors are
εMx−U = 3 + − d3 + x + θ determined at 50 N respectively, and those of the Mx, My
l1 2 3 2 l1
(16a) and Mz sensors are 5 Nm respectively in consideration
of grasping force of the intelligent robot.
(2) The rated strains of each sensor are determined at about
  
 1000 ␮m/m (about 0.5 mV/V) in consideration of the
6h d3 l1 l12 l1 d4 same rated outputs and sensitivities in each sensor.
εMx−L =− 3 + − d3 + x + θ
l1 2 3 2 l1 (3) The attachment locations of strain gages for all sensors
(16b) are determined at 1.5 mm from the end of the plate beams
in the length direction, and the center of the plate beams
where εMx−U is the strains produced on the upper surface of in the width direction in consideration of the size of the
each plate beam 7, and εMx−L is the strains produced on the used strain gages (1.52 mm × 2.54 mm).
lower surface of each plate beam 7.
The sizes of the sensing elements were calculated by
substituting the determined variables into Eqs. (10a), (10b),
3.3. Natural frequency of each sensor (14a), (14b), (16a), (16b), (17)–(19). Table 1 shows the de-
sign results of same capacity and different capacity of each
The 6-axis force/moment sensor is designed in consider- sensor in the same rated strain (rated output).
ation of the natural frequency and the translational and tor- The sizes of the sensing elements in the rated capacities of
tional stiffness in order to use in dynamic condition. The Fx = Fy = Fz = 50 N, Mx = My = Mz = 5 Nm are as follows:
equation for the translational stiffness under the forces Fx, the width b1 , b2 and b3 are 12 mm, 12 mm and 20 mm; the
Fy, Fz is kF = F/δ, and that for the tortional stiffness under length l1 , l2 and l3 are 10 mm, 8 mm and 10 mm; the height
the moments Mx, My, Mz is kM = M/θ. Where F is the ap- (thickness) t1 , t1  , t2 and t3 are 1.1 mm, 1.1 mm, 1.3 mm and
plied force, δ is the displacement, M is the applied moment, 1.2 mm; the distances d1 , d2 , d3 , d4 , d5 , d6 , d7 and d8 are
and θ is the rotational angle. 12 mm, 7.7 mm, 28 mm, 8.6 mm, 10 mm, 10 mm, 10 mm and
Substituting the Eq. (10a) into kF = F/δ, the equation for 4.8 mm, respectively, as shown in Table 1. And the transla-
the translational stiffness of the sensor under the force Fx or tional stiffness for the Fx sensor is 298 N/m, for the Fx sen-
Fy can be represented as sor is 298 N/m, for the Fz sensor is 85 N/m, and the tortional
stiffness for the Mx sensor is 644861 Nm, for the My sensor
32EI
kFx = (17) is 464866 Nm, for the Mz sensor is 354816 Nm. As shown
l3 in Table 1, the modeled structure of the 6-axis force/moment
Substituting the Eq. (12) into kF = F/δ, the equation for sensor can be designed with various rated capacity in the same
the translational stiffness of the sensor under the force Fz can rated strain (rated output). The used material is Al 2024-T351.
be derived as
3.5. Results of the strains analysis
24EI2 / l22
kFz = (18)
Fz − (24EI2 / l22 )(d5 + (l2 /2))φ Fig. 6 shows the attachment locations of the strain gages
for the 6-axis force/moment sensor. The attachment loca-
Substituting the Eq. (15) into kM = M/θ, the equation for tions of strain gages for each sensor are as follows; the Fx
the tortional stiffness of the sensor under the moment Mx or sensor is S1, S2, S3, S4, the Fy sensor is S5, S6, S7, S8,
My or Mz can be derived as the Fz sensor is S9, S10, S11, S12, the Mx sensor is S13,
S14, S15, S16, the My sensor is S17, S18, S19, S20, and the
(12EI1 / l12 )(d3 + (l1 /3) + (d32 / l1 )) + (A1 Ed42 / l1 ) Mz sensor is S21, S22, S23, S24. It is necessary to analyze
kM =
M/4 the strain at the attachment locations of the strain gages for
(19) the 6-axis force/moment sensor. The attachment locations of
132 J.-J. Park, G.-S. Kim / Sensors and Actuators A 118 (2005) 127–134

Table 1
Design results of same capacity and different capacity of each sensor in the same rated strain
Force (N) Moment (Nm) Length (mm) Height (mm) Width (mm) Distance (mm)
Fx Fy Fz Mx My Mz l1 l3 l2 t1 t1 t2 t3 b1 b2 b3 d1 d2 d3 d4 d5 d6 d7 d8
50 50 50 5 5 5 10 8 1.1 1.1 1.3 1.2 12 20 12 7.7 28 8.6 10 10 10 4.8
50 30 40 5 3 4 10 8 1.1 0.9 1.2 1.2 12 20 12 5.2 28 6.5 10 10 10 4.0
50 70 60 5 7 6 10 8 1.1 1.3 1.5 1.2 12 20 12 10.2 28 7.6 10 10 10 5.6
30 50 40 3 4 5 10 8 0.9 1.2 1.2 1.2 11 20 12 8.0 28 5.5 10 10 10 4.8
70 50 60 4 3 6 10 8 1.3 1.1 1.4 1.2 12 20 12 4.6 28 7.2 10 10 10 5.6

Fx sensor Fy sensor Fz sensor Mx sensor My sensor Mz sensor

Rated strain (␮m/m) and stiffness (N/m, Nm)

1032 298 1032 298 1056 85 1040 644861 1040 464866 1032 354816
1032 298 926 163 992 81 1022 515475 1025 377457 1031 325148
1032 298 1036 492 951 117 1036 666600 1033 568327 1027 388864
1010 150 947 355 1082 74 1016 567356 1014 460210 1085 354816
1036 492 1032 298 1093 91 1022 601688 1038 381253 1027 388864

strain gages for the Fx, Fy, Fz, Mx and My sensors are 1.5 mm
from the end of the plate beams in the length direction, and
the center of the plate beams in the width direction.
Table 2 shows the results of the rated strains and the in-
terference errors of each sensor calculated by using the rated
strain Eqs. (10a), (10b), (14a), (14b), (16a) and (16b). The
full bridge circuit (whetstone bridge circuit) for each sensor
is constructed by using the selected strain gages for each sen-
sor. The rated strain and the interference strain are calculated
using next equation.
ε = εT1 − εC1 + εT2 − εC2
where ε is the rated strain or the interference error, εT1 is the
strain from the tension strain gage T1 . εT2 is the strain from the
tension strain gage T2 . εC1 is the strain from the compression
strain gage C1 . εC2 is the strain from the compression strain
gage C2 .
The rated strain of the Fx, Fy and Mz sensors are
1032 ␮m/m in the theoretical analysis respectively, the Fz
sensor is 1056 ␮m/m, the Mx and My sensors are 1040 ␮m/m
respectively, and the interference error of each sensor is all
0 ␮m/m. That each sensor has the rated strain of more than
1000 ␮m/m is because the length and width of the sensing ele-
ment have 1 mm unit, and the thickness has 0.1 mm unit. That
each sensor has the interference error of 0 ␮m/m is because
the attachment locations of strain gages are determined con-
(20) sidering the full bridge circuit, and the center of strain gage
and the center of plate beam are corresponded.
3.6. Manufacture of the force/moment sensor

The 6-axis robot’s finger force/moment sensor was fabri-

cated to confirm the strains calculated from the derived equa-
tions under forces Fx, Fy and Fz, and moments Mx, My and
Mz. The strain gages were attached at the selected attach-
ment locations using a bond (M-bond 200) made in Micro-

Table 2
Rated output in theory and characteristic test
Sensor Analysis Rated output (mV/V) Error (%)
Fx sensor Theory 0.5237 6.0
Test 0.4925
Fy sensor Theory 0.5237 4.5
Test 0.5001
Fz sensor Theory 0.5396 4.0
Test 0.5611
Mx sensor Theory 0.5278 3.3
Test 0.5102
My sensor Theory 0.5278 3.4
Test 0.5097
Mz sensor Theory 0.5237 4.6
Test 0.4998
Fig. 6. Locations of the strain gages for the 6-axis force/moment sensor.
 J.-J. Park, G.-S. Kim / Sensors and Actuators A 118 (2005) 127–134 133

Table 3
Interference errors from characteristic test
F/M Sensor
Fx Fy Fz Mx My Mz
Interference error (%)
Fx = 50 N – −0.44 0.63 −0.05 −1.12 0.61
Fy = 50 N −0.77 – −1.51 −2.12 −0.64 2.50
Fz = 50 N 0.10 0.90 – −0.46 1.84 0.74
Mx = 5 Nm −0.04 1.51 1.11 – 1.03 0.74
My = 5 Nm −0.70 −0.22 −0.48 1.76 – 1.73
Mz = 5 Nm −0.14 −2.45 2.20 −2.67 −2.79 −

where Ei is the input voltage (V) of the full bridge circuit, Eo

Fig. 7. Photograph of the developed 6-axis force/moment sensor.
Measurement Company. The full bridge circuit for each sen-
sor was constructed using the strain gages; S1, S2, S3 and S4
for the Fx sensor, S5, S6, S7 and S8 for the Fy sensor, S9,
S10, S11 and S12 for the Fz sensor, S13, S14, S15 and S16 for
the Mx sensor, S17, S18, S19 and S20 for the My sensor, and
S21, S22, S23 and S24 for the Mz sensor. The strain gages
(N2A-13-T001N-350) made in Micro-Measurement Com-
pany were used for making the 6-axis force/moment sensor.
The gage factor of the used gage is 2.08, the length of the
gage is 1.52 mm, and the width of the gage is 2.54 mm. Fig. 7
shows the photograph of the developed 6-axis force/moment
sensor. The blocks A and B are fixed to the case of a robot’s
gripper, and the blocks C and D are fixed to the plate beam
for transmitting forces and moments from an unknown ob-
ject. The developed 6-axis force/moment sensor can be detect
forces (Fx, Fy, Fz) and moments (Mx, My, Mz) simultane-
ously, when an unknown forces and moments apply to the
plate beam. Thus, the developed sensor can be used as the
gripper of an intelligent robot for grasping an unknown ob-
ject and perceiving the position of it in grippers.
is the output voltage (V) of the full bridge circuit, K is the
factor of strain gage (the used factor of strain gage is 2.03),
ε is the rated strain gage of each sensor (␮m/m).
The rated strains (␮m/m) in the theoretical analysis are
changed into the rated output (mV/V) by using the Eq. (21).
Table 2 shows the rated outputs of each sensor from the theo-
retical analysis and the characteristic test. The rated outputs of
each sensor are 0.4925–0.5611 mV/V from the characteristic
test. The maximum error of the rated strain from theoretical
analysis compared to that from the characteristic test is less
than 6.0%. The error may be generated due to the process-
ing error of the sensing element, the error of the character-
istic test, the attachment error of the strain gage and so on.
Table 3 shows the interference errors from the characteristic
test. The maximum interference error of the fabricated 6-axis
force/moment sensor is below 2.79%, and it is similar or less
than that of the 6-axis force/moment sensor come out [1–10].
Specially, the sensitivity of the 6-axis force/moment sensor
is very good, as the rated outputs of all sensors are similar.
The outputs of force sensors are used to calculate the
weight of an unknown object (Eq. (3)), and to control the
robot’s gripper with its controller for grasping an unknown
object stably. The outputs of moment sensors and force sen-
sors are used to perceive the position of an unknown object
in the grippers (Eqs. (8a)–(8c)).

4. Characteristic test and consideration 5. Conclusion

The manufactured 6-axis robot’s finger force/moment sen-
sor should be carried out the characteristic test using the 6-
axis Force/Moment Calibration Machine [11] to evaluate the
rated strains and the interference errors of it. Each sensor is
tested three times by using the 6-axis Force/Moment Calibra-
tion Machine, and the output values from each sensor were
averaged, respectively. In order to correspond the unit of the
rated strain in theory and the rated output in characteristic
test, the unit of the rated strain in theory (␮m/m) should be
changed into the unit of the rated output in characteristic test
(mV/V), and the equation for it as follows.
Eo 1
= Kε
Ei 4
This paper describes the development of the 6-axis
force/moment sensor to use as an intelligent robot’s grip-
per for safely grasping an unknown object and accurately
perceiving the position of the object in the grippers. The 6-
axis force/moment sensor using PPBs that may measure the
forces Fx, Fy and Fz (rated capacity is 50 N), and moments
Mx, My and Mz (rated capacity is 5 Nm) simultaneously was
designed and fabricated.
As the result of the characteristic test of the fabricated 6-
axis force/moment sensor, the maximum error of the rated
strain and the maximum interference error are below 6.0%
and 2.79% respectively. Thus, the derived Eqs. (10a), (10b),
(14a), (14b), (16a) and (16b) may be used for calculating
(21) the rated strains of the modeled 6-axis force/moment sensor.
134 J.-J. Park, G.-S. Kim / Sensors and Actuators A 118 (2005) 127–134
And the modeled structure of the 6-axis force/moment sensor
can be designed with various rated capacity in the same rated
strain (rated output). The structure of the 6-axis force/moment
sensor newly modeled may be variously designed with the
same capacity or different capacity in each force component
and moment component.
It is thought that the developed 6-axis force/moment sen-
sor can be used as an intelligent robot’s gripper for safely
grasping an unknown object and accurately perceiving the
position of it in the grippers. In the future, the research on
grasping an unknown object and perceiving the position of
the object in the grippers will be performed with a control
system.
References
[1] M. Ceccarelli, et al., Grasp forces in two-finger: modeling and mea-
suring, in: Proceedings of 5th International Workshop on Robotics
in Alpe Adria-Danbube Region, 1996, pp. 321–326.
[2] D. Castro, et al., Tactile force control feedback in parallel jaw grip-
per, in: Proceedings of the IEEE International Symposium on Indus-
trial Electronics, vol. 3, V. 3, 1997, pp. 415–419.
[3] N.S. Tlale, et al., Intelligent gripper using low cost industrial, in: Pro-
ceedings of the IEEE International Symposium on Industrial Elec-
tronics, vol. 2, V. 2, 1998, pp. 415–419.
[4] BL AUTOTEC, BL SENSOR, Multi-axis force/torque sensor (BL-
FTS-E020), BL AUTOTEC, 2003, pp. 5–50.
[5] NISSO ELECTRIC WORKS CO., LTD, Multi Component Loadcell,
NISSO ELECTRIC WORKS CO., LTD, 1990, pp. 5–32.
[6] A. Yabuki, Six-axis force/torque sensor for assembly robots, FU-
JTSU Sci. Tech. J. 26 (1) (1990) 41–47.
[7] Y. Hatamura, et al., A Miniature 6-axis Force Sensor of Multi-layer
Parallel Plate Structure, IMEKO, 1989, pp. 567–582.
[8] K. Ono, et al., A New Design for 6-component force/torque sensors,
Mech. Probl. Measuring Force Mass (1993) 39–48.
[9] G.S. Kim, et al., Design and fabrication of a 6-component
force/moment sensor, Sens. Actuators 77 (1999) 209–220.
[10] G.S. Kim, The design of a six-axis force/moment sensor and evalu-
ation of its uncertainty, Meas. Sci. Technol. 12 (2001) 1445–1455.
[11] G.S. Kim, The development of a 6-axis force/moment sensor testing
machine and evaluation of its uncertainty, Meas. Sci. Technol. 11
(2000) 1377–1382.
Biographies
Gab-Soon Kim got B.S. degree in Precision Mechanical Engineering from
Jeonbook National University; M.S. and Ph.D. degrees in Precision Me-
chanical Engineering from Hanyang University, Republic of Korea, in
1986, 1990 and 1999, respectively. He was a senior researcher at De-
partment of Force Laboratory, Korea Research Institute of Standards and
Science, Republic of Korea, from February 1990 to February 2000, and a
visiting researcher at Department of Intelligent Robot Laboratory, Univer-
sity of Tsukuba, Japan, from July 2003 to June 2004. Since 2000, he has
been with Gyeongsang National University, where he is currently Assis-
tant Professor at Department of Control & Instrumentation Engineering.
His main research interests are in the areas of multi-axis force/moment
sensor of intelligent robot, intelligent service robot and intelligent system.
Joong-Jo Park got B.S., M.S. and Ph.D. degrees in Electrical Engineer-
ing from Korea University, Republic of Korea, in 1981, 1983 and 1995,
respectively. He was a senior researcher at Department of Control & In-
strumentation Laboratory, Research Institute of Science and Technology,
Republic of Korea, from October 1988 to Feb. 1991. Since 1996, he has
been with Gyeongsang National University, where he is currently Asso-
ciate Professor at Department of Control & Instrumentation Engineering.
His main research interests are in the areas of visual measurement system
and intelligent system.