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Labelled parts of the six-dimensional force sensor.
| Label | 1 | 2 | 3 | 4 | 5 | 6 |
| part | vertical pre-tightening device | adjustment component | upper vertical branch module | steel ball | pressure-head | spoke-type force sensor |
| Label | 7 | 8 | 9 | 10 | 11 | 12 |
| part | mounting plate | lower vertical branch module | adjustment part | horizontal pre-tightening device | lower horizontal branch module | upper horizontal branch module |
