Research On A New Kind Of Robot Wrist Force Sensor

This paper presents a new kind of robot multi-dimension wrist force sensor, which can provide 6D force/moment vector for controller by measuring the force/moment of the wrist in real time. In this paper, a finite element analysis for the elastic body of the sensor is made firstly. The structure and measurement principle of the sensor has been studied. The paper calculates a fixed quantity of static couple under six components with the reasonable finite element computation model, and appraises the rationality of the structural design. Then the sensor is calibrated and the calibration matrix of sensor is worked out. By this way, we can learn the relation between strength input signal and voltage output signal. In order to study the dynamic characteristics of the sensor, a series of impulse experiments and step experiments are done on the static calibration device. From the response curve, the dynamic performance indexes are obtained, including the natural frequency and damping ratio. On the basis of dynamic calibration data, its dynamic mathematic model is established. Because the damping ratio of the sensor is low, a dynamic compensated digital filter is designed, which shortens the dynamic response time of wrist force sensor and widens the work bandwidth evidently.