Novel six-dimensional force and torque sensor

A six dimensional force and torque sensor, comprising a central boss, a cylindrical housing arranged outside the central boss, and twelve elastic beams for connecting the central boss with the cylindrical housing, wherein the twelve elastic beams are respectively provided with a plurality of strain gauges, and a bottom of the central boss is provided with a mounting hole for mounting a signal processing module;

• the twelve elastic beams are divided into a first beam group and a second beam group, the first beam group comprises eight first beam bodies of a first same size and structure, and the second beam group comprises four second beam bodies of a second same size and structure, the eight first beam bodies are divided into four groups and are respectively arranged at an upper end of the central boss, a lower end of the central boss, a left end of the central boss and a right end of the central boss, and the four second beam bodies are respectively arranged between two first beam bodies of a same group.