Development Of Six-axis Robot Wrist Sensor

In automated manufacturing process, especially in the contact process of the end effector of a robot with working environment, robotic force control is required for accurate operation of robot and protection of the workpiece. In order to control force, six-axis force/torque sensor is utilized to measure the magnitude and direction of grasping force. six-axis wrist force/torque sensor is usually connected to the robot wrist, which is between the end effector and the robot arm. In this case, the sensor size and weight is restricted to be very small to minimize the dynamic effect of wrist force sensor.First of all,This paper refers to previous research results in the robot wrist force/torque sensor, as well as a variety of design projects of six-axis force/torque sensor are analyzed, and the structure of wrist force/torque sensor are designed. We optimize the design of the sensor structure with Abaqus through orthogonal test method, strain gauge layout scheme is analyzed according to the advantages and disadvantages of a new strain gauge layout arrangement. uniaxial strain test is analyzed with Abaqus, and finally this strain layout scheme is proved completely decoupled theoretically.Second, Structure of six-axis force/torque sensor is analyzed with Mechanics according to Timoshenko beam theory, and strain of six-axis force/torque sensor is calculated by Abaqus, finite element values and calculation results are compared.Third,the signal processing system of the six axis force sensor is designed, we use stm32F103 as the main processor, use two amplifier and a first-order active low-pass filtering to realize the communication between sensor and computer. then signal conditioning circuit board is manufactured, each dimensional output signal of the sensor is gathered, and the sensor is calibrated statically.A new six-axis force / torque sensor sample is developed. The sensor is characteristic of high sensitivity and low coupling output signal. The process and manipulation are simple and the cost of production is low.