Design and Analysis of a Six-Dimensional Force Sensor

Abstract

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.

Dynamic characteristics optimization of elastomer for resistance strain force sensor

“…Researchers have proposed and applied the principle of force sensor optimization design to solve the optimal structural parameters. Chen improved the structural stiffness of the sensor to 3,000 N/m (Chen and Yuan, 1997); Wu improved the sensor sensitivity to 1.64 Â 10 À3 (Wu et al, 2011); Xie changed the six-dimensional force sensor to integral pretightening double-layer parallel structure, improved the static and dynamic performance of sensor (Liu, 2016); Liu obtained the minimum range of the measurement branch and the corresponding parameters according to the working condition function model (Xie, 2011). The researchers have established a physical model of the sensor, by changing the structural parameters, using the optimal method to find the limit value and change trend of the observed target.…”