Fault-tolerant measurement mechanism research on pre-tightened four-point supported piezoelectric six-dimensional force/torque sensor

•Fault-tolerant measurement mechanism research on piezoelectric six-dimensional force sensor is revealed.•Mapping mathematical models of the sensor without signal fault and with signal fault are constructed respectively.•The fault-tolerant static calibration experiment of the sensor is carried out.•GABP algorithm for piezoelectric six-dimensional force sensor is adopted to solve the nonlinear cross coupling problem.•Piezoelectric six-dimensional force sensor with fault-tolerant characteristic can improve the reliability.