Design Optimization of Six-Axis Force/Torque Sensor Based on Compliance Matrix Condition Number

The six-axis force/torque sensor elastomer is the sensor's internal sensitive component and is the core of the entire sensor. The design of the traditional six-axis force/torque sensor elastomer is usually based on the empirical method. Without a strict theoretical basis, it is usually impossible to obtain the best performance elastomer model. In this paper, the finite element analysis and orthogonal test method are used to analyze the response value of the model, and the approximate mathematical model of the sensor elastomer is fitted based on the multiple regression method. Based on the mathematical model of the elastomer, analysis of the influence of structural parameters on the strain response of the elastomer, and the structural parameters are set as decision variables, the condition number of the compliance matrix of the elastomer is taken as the objective function, and the genetic algorithm is used to optimize the condition number of the compliance matrix. Optimize to get the optimal elastomer model.