This paper describes the design and the calibration of a novel parallel piezoelectric six-axis force/torque sensor. A new
force-sensing cell distribution model has been investigated: eight piezoelectric quartz crystal cells are uniformly
distributed along one circle line to get the spatial force information. The mathematic model of the method has been
deeply researched, established and calculated. In this paper, the negative step response method is calibrated to evaluate
the dynamic response of the sensor: the calibration force acting on the sensor is suddenly removed by breaking a brittle
material. Based on the experimental data of the calibration, the natural frequency, dynamic range as well as coupling
interference of the sensor are analyzed and discussed. The new force-sensing cell distribution model may overcome
some disadvantages of present six-axis force sensor, such as improving the overall stiffness of the sensing system, and
meanwhile, reducing the coupled interference.
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