Abstract:Six-axis force sensor has important application value in intelligent manufacturing, precision assembly, sports medicine and other fields. Aiming at the technical problems of decoupling measurement and cross interference suppression of six-axis force sensor, this study puts forward a design method of piezoresistive high-torque dynamic six-axis force sensor. In sensor structure design, four straight beam three-dimensional force sensors are combined to share the load, so as to meet the requirements of high load. In three-dimensional force sensor design, the symmetry of elastomer stress distribution and the principle of Wheatstone bridge balance were used, and the sensitive resistors were organized into measuring circuit for three-dimensional force decoupling measurement. According to the stress variation law of the combined sensor under six-axis forces and torques, the six-axis forces and torques are measured by matrix decoupling.