Design and Analysis of a Six-Dimensional Force Sensor

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.