深度 | 人形机器人六维力传感器专题：高价值和高壁垒的力控核心部件，国产供应商持续发力【国信汽车】

Core Viewpoint - The article emphasizes the significance of six-dimensional force sensors as core components in humanoid robots, highlighting their high value and technical barriers, with domestic suppliers making continuous progress in this field [2][8]. Group 1: Importance of Sensors in Humanoid Robots - Sensors serve as crucial bridges for humanoid robots to interact with their environment, with force sensors being particularly important due to their high value, accounting for approximately 16% of the total value in robots [3][13]. - Six-dimensional force sensors provide comprehensive force perception information, primarily installed in critical areas such as wrists and ankles, enabling precise sensing and compliant control [3][28]. Group 2: Technical Aspects of Six-Dimensional Force Sensors - Six-dimensional force sensors can measure three directional forces and three directional moments, with performance indicators including crosstalk, accuracy, sensitivity, and overload capacity [5][38]. - The technology route includes various types such as strain gauge, capacitive, piezoelectric, and photoelectric, with strain gauge technology being the most mature and widely used due to its high precision and lower cost [5][54]. - The structure of strain gauge six-dimensional force sensors consists of key components like elastic bodies and strain gauges, with the working principle based on the deformation of the elastic body leading to changes in resistance [5][58]. Group 3: Barriers and Challenges in Manufacturing - The design, algorithm, calibration, and processing of six-dimensional force sensors present significant barriers, requiring a high level of know-how [6][64]. - Structural design involves balancing stiffness and sensitivity, while decoupling (both structural and algorithmic) is essential to eliminate inter-channel interference, which is a complex challenge [7][78]. - Calibration and detection processes are complicated, necessitating self-developed equipment for six-dimensional joint loading calibration [92]. Group 4: Market Dynamics and Opportunities - The high-end market for six-dimensional force sensors is predominantly occupied by foreign companies, but domestic players are gradually entering the market, improving product performance and narrowing the gap with foreign brands [9][8]. - The current price of six-dimensional force sensors is around 10,000 to 20,000 yuan, with expectations for price reductions as production volumes increase, potentially reaching around 1,000 yuan [9]. - The market for six-dimensional force sensors in the humanoid robot sector is projected to reach 13.8 billion yuan by 2030, driven by increasing demand for humanoid robots [9].