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http://dx.doi.org/10.7736/KSPE.2015.32.4.359

Design of a Six-Axis Force/Moment Sensor using Analytical Method for Humanoid Robot Foot Module  

Yuan, Chao (Department of Mechatronics Engineering, Hanyang University)
Lim, Dong Hwan (Department of Mechanical Engineering, Hanyang University)
Luo, Lu Ping (Department of Mechanical Engineering, Hanyang University)
Han, Chang Soo (Department of Robot Engineering, Hanyang University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.32, no.4, 2015 , pp. 359-367 More about this Journal
Abstract
The forces and moments exerted on humanoid robot foot are important information for controlling or monitoring the robot. Multi-axis force/moment sensor can be installed under humanoid robot foot to measure forces and moments. The sensor should have large stiffness to support the robot weight and small size not to disturb the motion of the robot. In this paper, we designed a 6-aixs force/moment sensor which has good accuracy, large measuring range, and new compact structure. In addition, the proposed sensor is evaluated using analytical method and FEM(Finite Elements Method) method. Finally, it turned out that it has good performance.
Keywords
Six-Axis force/Moment sensor; Analytical method; Foot sensor; Humanoid robot; Structural isotropy;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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