Abstract. In order to obtain the force of the foot of a multi-foot robot, a new type of structure based on the sliding axis is proposed.[1] This structure is improved based on the traditional cross beam six-dimensional force sensor. The structural characteristics of the sensor and the principle of force measurement are analyzed. Static and dynamic simulation of the elastic body is carried out by using the finite element method. The deformed cloud, strain cloud, mode shape and natural frequency of the elastic element are obtained. According to the result of finite element analysis, the position of the patch is simulated in the three-dimensional model, and the elastic element of the sensor is decoupled and linearity analyzed. Finally, the calibration matrix of the sensor is obtained.

The transmission gear is taken as the research object in this paper, the high damping alloy material is added to the gear to attenuate the vibration when the gears meshes. First, the gear transmission with damping alloy is compared with the traditional gear transmission through the rigid-flexible coupling model in ADAMS, and then the change of gear center acceleration during transmission is analyzed. The damping effect of the high-damping alloy material verifies that the increase of the gear damper can attenuate the vibration, and more effective in high-frequency transmission.