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Development of 6-axis Force/moment Sensor for Humanoid Robot's Head Reacting to a External Force  

Kim, Gab-Soon (Department of Control and Instrumentation Engineering, Gyeongsang National Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.12, 2009 , pp. 78-84 More about this Journal
Abstract
When external force is applied to humanoid robot's head, humanoid robot's neck is rotated to prevent the damage of it. So, robot's neck have to perceive forces (Fx of x-direction, Fy of y-direction and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of z-direction) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot's head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot's head.
Keywords
6-axis Force/moment Sensor; Interference Error; Rated Output; Rated Load; Humanoid Robot;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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