Ref: F6D45

6 axis force/torque transducer - 20N / 1Nm - robotics

type: 6-axis force- torque sensor for mounting on robot arm (DIN EN ISO 9409-1)
nominal force: Fx, Fy: 20 N, Fz: 50 N;
nominal torque: Mx, My, Mz: 1 Nm;
accuracy class: 1%;
dimensions: Ø45 mm x 26 mm;
mounting and centering: 3 x female thread M3 ; 3 drill hole Ø1,5 mm E7;
connection: cable gland (CG) with 2x 3m 30-12 PUR / 12x0,061mm²;
material: aluminium alloy
weight: 50 g;

Introduction

The F6D45 6-component force transducer simultaneously measures the forces Fx, Fy, Fz and torques Mx, My, Mz on three perpendicular axes. The F6D45 incorporates 6 independent strain gauge force transducers as well as mounting flanges conforming to DIN ISO 9409-1 for direct mounting on the arm of a robotic manipulator, without the need for additional flanges or adapters. The total space requirement on the robot arm is therefore much smaller than that of the K6D series.

The measuring range of the F6D45 is 20N on Fx/Fy, 50N on Fz, and 1 Nm on Mx/My/Mz. The forces are measured directly at the contact surface, allowing for maximum rigidity and a small footprint. The contact surfaces are designed for optimized force transmission, reducing the overall accuracy to 1% (after decoupling), and the sensitivity to transverse forces (crosstalk) to 1%.

Each transducer is delivered with a factory calibration certificate and a 6x6 inter-channel coupling matrix. Calibration to specific ranges is available as an option, as well as ISO-17025 calibration.

Installation

The 6-component load cell F6D45 is mounted on the arm of a robot without any other mounting part.

The introduction of the forces and the fixing to the bench are carried out by 3 M3 tappings + 3 centering pins Ø1,5 mm E7. The application of the force is carried out on the portions of the surface raised by 1 mm. The inner part of the surface is used for centering.

The sensor is supplied with 5 VDC. The operating temperature range is -10 to 85°C. The output signal is not amplified. The sensor is delivered with a 3m cable.

Conditioning, Acquisition, Use of the decoupling matrix

The acquisition of the raw measurement signals is done with :

a PC or PLC acquisition system equipped with a strain gage bridge input card
or via a conditioning module for strain gage bridge with analog or digital output, then a PC or a standard acquisition system.

The inter-channel decoupling matrix is implemented in the conditioning or acquisition module.

The real efforts are obtained by multiplying the 6x6 decoupling matrix (M) by the vector I containing the 6 output signals of the F6D45. The origin of the reference frame in which the measured forces are projected is generally the center of the contact surface (see documentation). After neutralizing the inter-corner effects, a force applied on one axis will result in a force variation on only one axis. The accuracy of the measurement is thus improved by a factor of 5 to 10.

PM Instrumentation recommends the GSV series of digital interface conditioning modules for their simplicity of use, their accuracy and their ability to take into account decoupling matrices:

the GSV-8DS (High performance module, 8 analog inputs) or its ruggedized version GSV-8AS, which can be optionally equipped with a datalogger
the GSV-6LTE, equipped with a data logger and wireless connectivity A visualization and acquisition software is included with these modules (GSV-multi). Dll and VI files are also provided for the development of an application under Labview or in C / Visual Studio / C++ / .net