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Delta6: A Low-Cost, 6-DOF Force-Sensing Flexible End-Effector
Description
This paper presents Delta6, a low-cost, six-degree-of-freedom (6-DOF) force/torque end-effector that combines antagonistic springs with magnetic encoders to deliver accurate wrench sensing while remaining as simple to assemble as flat-pack furniture. A fully 3D-printed prototype, assembled entirely from off-the-shelf parts, withstands peak forces above +/-14.4 N and torques of +/-0.33 N.m per axis; these limits can be further extended by leveraging the proposed parametric analytical model. Witho