Finite Element Analysis Of No-coupling Six-axis Force Sensor Structure And Calibration Experiment System Design

Robot technology has become the hot research direction in current engineeringresearch field. And humanoid robot research is one of the most remarkable and mostchallenging research branches. The key feature of humanoid robot is the method ofmoving: walk like human beings. To achieve the stability of walking on foot, detectionof ground reaction on feet timely is needed. This paper is to study a six axisforce/moment sensor for humanoid robot walking research.The coupling phenomenonis very serious, and there is lack of efficient overload protection method for common sixaxis force/moment sensor. For these reasons, our laboratory designed a kind sxi axisforce/moment sensor structure. The new structure is no-coupling in theory and it hasefficient overload protection method. The main contents are as follows:Introduce the mechanical structure principle of six axis force/moment sensor.Expound the no-coupling structure.According to the design requirement, developmentthe machining processing. Design the Wheatstone bridge for force/moment detectionand discuss the paste method of strain gage. The calculation method of force andmoment is analyzed.Finite element simulate of mechanical structure. In ANSYS10.0platform, build theFEA model of sensor using of APDL language. At first, complete static analysis of threebeams, and check out the strain distribution of beams, to verify the feasible of design.Then build the assembly model and analysis the deformation of force sensor whenapplied with different load in different direction. At last, modal analysis is carried out.Get the first five-ordered vibration modes and natural frequency from the results.The design and fabrication of hardware and software of Signal acquisition andprocessing system based on DSP. The main work includes: overall scheme design,analog signal regulate circuit, DSP system circuit, AD transform and communicationinterface design. Software is mainly includes the DSP program and PC program.Design calibrating test device. Use lever principle to achieve the calibration offorce in three directions. And, design moment calibration device using of pulleys. Atlast, design the calibration process.