Research On The Six-Axis Force Sensors Used On The Feet Of The Biped Robots Imitating Human Walking

The beginning of this paper sees the introduction of different types ofsix-axis force sensors of robots, which are often seen at home and abroad, andthe study situation about them. According to the demands of the research, theauthor develops a new type of six-axis force sensor of robots. The authoranalyzes the relationship between the force on the sensor and the stress at themeasuring points of the elastic elements by using the method of stress analysis.The results show that the sensor's output is decoupled and it has simple structureand technological advantages. It can be used on the feet of a biped robotimitating human walking and other types of robots when multi-axis force sensorsare needed. The author also develops a force-measuring system on the demandof sensors application, and has debugged it. The result shows that the system ispragmatic. And then, the author has calibrated the sensor by a self-made loadingdevice and tested its performance. The results of the calibration also proved thatthe design theory is right. At the end of the paper, the author forecasts thedirection of the development of six-axis force sensors.Based on the research work, the author brings forward a theory of stressmeasurement on the basis of the stress analysis. The application of the theory canmake the decoupling of the forces possible through the scheme of differentdistribution of strain gauges and the makeup of electric bridge of strain gauges.With its practical value the theory also enriches the methods of force measuring.The scheme of the distribution of strain gauges and the makeup of the electricbridge of strain gauges resulting from the application of this theory in thisspecific research work enables the author to decouple the output forcessuccessfully. It also creates a new train of thought on the design of different typesof decoupled multi-axis force sensors.