The Design Of Six-dimensional Force/torque Sensor Based On Human-computer Interaction And Its Study Of Dynamic Characteristics

Objective:Different kinds of elastic body structures were designed,and analyzed by finite element simulation,then,we choosed a reasonable design scheme.Finally,a new type of six axis force/torque sensor was designed.Methods:According to the practical requirements and restrictive conditions,several reasonable structure of the sensor elastomer were designed.Using ANSYS software to carry on the static analysis,the resonance analysis,the fatigue characteristic analysis and strength analysis of the elastic body.Comparing the advantages and disadvantages of various structures,we selected an optimal structure,Results:Realized the independent optimal design of the sensor's core components-elastic body,reduced the design cost.Not only guaranteed its performance,but also reduced the size of the sensor.Conclusion:The sensitivity of the elastic body with square hole titanium alloy is higher,and the strength is up to the requirement.lt can meet the rocker type upper limb rehabilitation robot using requirements and restrictions.