Six-axis force sensors play an important role in civilian and military fields because of their multifunctionality. In the context of sensor structure design, sensitivity and sensitivity isotropy are often considered. This paper aims to study the possible relationship between the sensitivity/sensitivity isotropy and structural parameters of an 8/4–4 parallel six-axis force sensor. A comprehensive evaluation index and structural optimization design scheme are suggested in the end.,Based on the conditional number of the Jacobian matrix spectral norm, the sensitivity and sensitivity isotropy of the sensor are derived. Orthogonal experiments are used to determine the degree of primary and secondary factors that have a substantial effect on the sensor characteristics. The relationship between the performance indices and the structural parameters is analyzed by the performance atlas method. The comprehensive evaluation index lays the foundation for the structural optimization design of an 8/4–4 parallel six-axis force sensor.,The variation in each performance index of the sensor for each of the structural parameters is analyzed, and the structural parameters of the sensor with the desired performance indices can be easily selected from the performance atlases. A comprehensive performance evaluation index with a target value of 1 is proposed, and the overall influence of the structural parameters on the sensor performance index is investigated. A simulation example shows the feasibility of the proposed evaluation index.,The importance of each structural parameter of the 8/4–4 parallel six-axis force sensor is determined through orthogonal experiments in this paper. Relations among the structural parameters meeting the performance indices are derived and shown in the performance atlases. A comprehensive evaluation index is proposed to analyze the overall sensor performance.

中文翻译：

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8/4-4平行六轴力传感器的灵敏度和灵敏度各向同性

六轴力传感器因其多功能性在民用和军用领域发挥着重要作用。在传感器结构设计的背景下，通常会考虑灵敏度和灵敏度各向同性。本文旨在研究8/4-4平行六轴力传感器的灵敏度/灵敏度各向同性与结构参数之间可能的关系。最后提出综合评价指标和结构优化设计方案。基于雅可比矩阵谱范数的条件数,推导出传感器的灵敏度和灵敏度各向同性。正交实验用于确定对传感器特性有实质性影响的主要和次要因素的程度。采用性能图谱方法分析了性能指标与结构参数之间的关系。综合评价指标为8/4-4平行六轴力传感器的结构优化设计奠定了基础。,分析了各结构参数下传感器各性能指标的变化情况,分析了各结构参数对传感器各性能指标的影响。可以从性能图谱中轻松选择具有所需性能指标的传感器。提出了目标值为1的综合性能评价指标，考察了结构参数对传感器性能指标的整体影响。仿真实例显示了所提出的评价指标的可行性。本文通过正交实验确定了8/4-4平行六轴力传感器各结构参数的重要性。满足性能指标的结构参数之间的关系被导出并显示在性能图谱中。提出了综合评价指标来分析传感器的整体性能。