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20 Force Control Products
2.1.3.
Type III Force Sensor
2.1.3.1 Overview
The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The
six-axis F/T sensor generally has two ends: the fixed end (robot end) and the loading end (tool end). When the
two ends are exposed to relative force, the sensor deforms elastically and the resistance strain gauge inside
the sensor changes, which is converted into a voltage output signal.
The output forces and torques of the six-axis F/T sensor are relative to the force coordinate system, which is
generally located at the geometric center of the sensor. The definition of the sensor coordinate system is
shown in Figure 2-12.
Figure 2-12 Definition of the Sensor Coordinate System
2.1.3.2 Sensor Installation
Sensor dimensions, positions of the fixed end (robot end) and the loading end (tool end), and the installation
method are shown in Figure 2-13. The cable and interface are all fixed on the fixed end. To prevent the
swinging or pulling of the cable from affecting the force sensor measurements, the robot should be fixed
during installation, and the bolts should be installed from the direction of the tool end.
Gradually tighten the screws according to the diagonal sequence to deliver uniform contact between the
sensor and the robot or adapter tooling.
a.
Please ensure that the surfaces of the robot end, adapter plate and sensor are free of damage or
foreign objects. If the contact is non-uniform due to factors such as the inclusion of foreign objects,
gaps will be formed between them. As a result, the product may not meet IP64 compliance and would
have reduced output quality.
b.
The positioning pins make it easy to install and connect the device repeatedly, and they will not affect
sensor performance if not used.
CAUTION:
Before installing the sensor, please keep the XY directions of the sensor coordinate system consistent with
that of the robot end flange coordinate system, that is, keeping the direction from the center of the robot end
flange to the TIO consistent with the -Y direction of the sensor. Inconsistent installation directions may affect
subsequent use.