Optimal Design of a Six-Dimensional Force Sensor with Three-Beam Structure

Table 4

Finite element results of initial elastic body.

Load case	Fx = 200 N	Fy = 200 N	Fz = 200 N	Mx = 8 N m	My = 8 N m	Mz = 8 N m	Fully loaded
Maximum von-Mises stress (MPa)	49.15	48.48	36.43	76.03	81.65	40.74	228.94
Average strain of associated bridge strain gauges ()	203.4	142.1	187.2	444.3	342.1	238.4	/
Sensitivity (mV/V)	0.4068	0.4263	0.5616	0.8886	1.0263	0.7152	/