This document discusses different types of force and torque sensors, including single-axis, 2-axis, 3-axis, and 6-axis sensors. Single-axis sensors measure only one force or torque. 2-axis and 3-axis sensors provide more compact designs by measuring combinations of forces and torques. A 6-axis sensor uses a grid of strain gauges and a coefficient matrix to calculate forces and torques in all three dimensions simultaneously. Examples applications discussed include cutting force measurement, friction testing, and wind tunnel testing.

1. 3-Axis and 6-Axis
Introduction & Primer
Keith Skidmore
June 24, 2015

2. • Single Axis
• 2-Axis –Axial Torsion (Fz, Mz)
• 3-Axis – Fx, Fy, Fz
• 6-Axis – Fx, Fy, Fz, Mx, My, Mz
• 3-Axis Applications
• 6-Axis Applications
• Q&A
Agenda

3. • What it measures: Any single Force or Torque
• Benefits: Highest accuracy
• Limitations: Only measures one axis
Fz
Single Axis

4. • What it measures: Any two Forces or Torques
simultaneously
• Benefits: Off-the-shelf, high accuracy sensors
• Limitations: Fixturing / Installation
+
2-Axis
Using 2x Single Axis Sensors

5. • What it measures: Fz and Mz in one sensor
• Benefits: Compact design
• Limitations: Fixed ratios of Force to Torque
Fz
Mz
Axial Torsion

6. • What it measures: Forces in all 3 Axis
– Fx, Fy & Fz
• Benefits: Compact design
• Limitations: Fixed
capacities in each axis
3-Axis

7. • How it works – 3 single-axis sensors combined
into one sensor
• Example designs
3-Axis

8. • What it measures: Forces and Torques in all
axis
• Benefits: Compact design, simplified
installation, reduces required engineering
• Limitations: Fixed capacities in each axis
6-Axis

9. Full wheatstone
bridge on each leg
Each channel output
is in mV/V
• How it works – 6 full wheatstone bridges
• All six legs react to any given load.
• Individual load values are calculated using the product
of a all 6 channels of output and a coefficient matrix
6-Axis

10. • Load in each axis is calculated as the cross-product
between the output on each channel and the 36-term
coefficient matrix.
• Fx = CH1*CO1 + CH2*CO2 + CH3*CO3 + CH4*CO4 +
CH5*CO5 + CH6*CO6
• Fy = CH1*CO7 + CH2*CO8 + CH3*CO9 + CH4*CO10 +
CH5*CO11 + CH6*CO12
• Fz, Mx, etc..
• There is also a calculation to translate the calculated
moments from the measurement origin to the point of
application.
6-Axis

11. • Simplifies data
BSC8 & Software

12. • Cutting Force
3-Axis Application

13. • Friction Testing Machine
3-Axis Application

14. • Wave Tank Lift & Drag
3-Axis Application

15. • Wind Tunnel
6-Axis Application

16. • Ball & Socket
6-Axis Application

17. 6-Axis Application
• Seat Testing

18. Questions?

19. Thank You