Design And Analysis Of New Six-axis Force/torque Sensor For Walking Robot

In the motion control of high-speed walking robot,the contact force between the foot and the ground needs to be detected in real-time by sensors.However the existing six-axis force/torque sensors are generally have output coupling,which requires complex algorithms for solution,which has a great impact on the real-time performance.So a six-axis force/torque sensor that can realize the uncoupling on the structure and has an omni-directional overload protection device is designed in this paper to meet the needs of the walking robot.The specific contents are as follows:The design of the uncoupling and overload protection for the sensor.Considering the contradiction between the impact resistance and the sensitivity to force perception,the structural scheme of the force perception system is designed and optimized,so that the sensor can have higher sensitivity under the premise of uncoupling.In case of accidental overload the sensor should neither be damaged nor separated from the robot foot to ensure the safety of the robot and environment.Combine these two requirements an omni-directional overload protection device is designed.The method of pasting strain gauges and the assembly scheme of the electric bridge are designed.And also,the detection principle formula of sensor force and torque is deduced.In response to the needs of the 40-70 kg humanoid biped robot for its foot's sensor,determine the design task indicators of the sensor and the material and size parameters of key components.Then analyzed the heat treatment craft of sensor components,studied the processing technology of each part under the condition of heat treatment deformation.Then formulated the machining route of each part of the sensor.Based on the 3D model of the sensor and ANSYS,the finite element analysis and strength check of the elastic body and the whole sensor are conducted respectively.The deformation of the sensor under different conditions is analyzed and the rationality of the sensor structure is verified.Then,through the analysis of the strain of each elastic beam under different stress,the uncoupling of the sensor force measurement is verified.And the modal analysis is conducted,the first ten natural frequencies of the sensor are obtained,after that the dynamic characteristics of the sensor is analyzed.Designed a calibration equipment,which can accurately calibrate the sensor by applying six linearly independent forces/torque,and formulated an experimental scheme of the sensor calibration.Then analyzed the possible errors of sensors both theoretically and simulated.