Design and analysis of three-axis cantilever type force sensor

Hemant P. Jawale, Ankur Jaiswal, Kapil N. Bhasme

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Purpose: The force sensing is used in robotic assembly tasks. The sensors developed are much advanced and costly. The force transducers are generally configured and deployed at the wrist of the robotic arm. The purpose of this paper is to describe the concept of an elastic transducer to make available cost-effective force sensor with simple construction and analysis. Design/methodology/approach: The analytical formulation is developed herewith for one-, two- and three-axis elastic cantilever configuration. The force to be measured can be calculated analytically using derived strain expressions. The strains are estimated using proposed formulation, further crosschecked through FEA approach. The analytical method for strain estimation using moment equations is presented along with validation using finite element method (FEM) tool (ANSYS 15.0) with the case study. Findings: The derivation of expressions for force components from strains is developed. The resulting formulation found to confirm the estimated strains from analytical methods closely to the FEM results. Theoretically, it is possible to find contact forces and angle of force on stationary force platform. It is found that the magnitude of estimated contact forces is within 1 per cent deviations. Research limitations/implications: The mathematical modeling and FEA simulation of the three-axis force sensor under elastic (no deformation) conditions. Originality/value: These sensors are ranging from simple crossbar structure to Stewart platform type. The subsequent development in this field pertains to performance enhancement such as accuracy and cross-sensitivity. The basic structure of the sensor has not changed drastically. The major problem, as discussed by many authors, is a complex interdependence of six components and intricate geometrical structure. Derivation of expressions for force components from strains is a breakthrough contribution by the authors. The analytical treatment for finding the strains is aimed in this paper.

Original languageEnglish
Pages (from-to)497-508
Number of pages12
JournalWorld Journal of Engineering
Issue number4
Publication statusPublished - 20-08-2019

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Geotechnical Engineering and Engineering Geology
  • Mechanics of Materials
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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