The present invention belongs to the field of
robot teaching, and specifically discloses a cylindrical six-dimensional
force sensor for sensing traction, which includes a
flange column, a cylindrical elastic sensitive body, a resistance
strain gauge and a seal, wherein the end of the
flange column is connected to the
actuator, and the top is connected to the mechanical arm; the cylindrical elastic sensitive body is sleeved on the outside of the
flange column and connected to the flange column, and its upper part is a stress sensitive area, and the lower part is an
external connection area, and the stress sensitive area is used to paste the resistance
strain gauge, and then measure the six-dimensional traction it receives; the seal is sleeved on the outside of the cylindrical elastic sensitive body, and is used to protect the cylindrical elastic sensitive body while transmitting the six-dimensional traction acting on the seal, and the top of the seal is connected to the top of the cylindrical elastic sensitive body. The present invention can transmit the working
load force of the end
actuator to the mechanical arm through the series-connected flange columns, and will not generate force interference to the cylindrical elastic sensitive body, thereby realizing the decoupled measurement of traction and end execution force.