A Six-Axis MEMS Force–Torque Sensor With Micro-Newton and Nano-Newtonmeter Resolution

作者：Felix Beyeler, Simon Muntwyler, Bradley J. Nelson · 发表于：Journal of Microelectromechanical Systems · 年份：2009 · DOI：10.1109/jmems.2009.2013387 · 被引用次数：153 · 研究领域：Advanced MEMS and NEMS Technologies、Mechanical and Optical Resonators、Force Microscopy Techniques and Applications

This paper describes the design of a six-axis microelectromechanical systems (MEMS) force-torque sensor. A movable body is suspended by flexures that allow deflections and rotations along thex-,y-, andz-axes. The orientation of this movable body is sensed by seven capacitors. Transverse sensing is used for all capacitors, resulting in a high sensitivity. A batch fabrication process is described as capable of fabricating these multiaxis sensors with a high yield. The force sensor is experimentally investigated, and a multiaxis calibration method is described. Measurements show that the resolution is on the order of a micro-Newton and nano-Newtonmeter. This is the first six-axis MEMS force sensor that has been successfully developed.