四足仿生机器人足部六维力传感器设计

Design of New Six-Axis Foot Force Sensor on a Quadruped Robot

为获得四足仿生机器人足底所受六维力/力矩,结合机器人足部结构特点,提出了一种新型六维力传感器结构。介绍了该传感器的结构特点和测力原理,采用有限元方法对传感器弹性体进行静态和模态特性仿真,获取了该弹性体的变形图、应变云图、模态振型和固有频率,分析得出了传感器弹性体应变曲线、灵敏度和维间干扰情况。结果表明该传感器结构具有测量灵敏度高、维间干扰小,以及弹性体固有频率高等特点,满足四足仿生机器人足部测力的需求。

In order to obtain the ground forces applied by the quadruped robot, by analyzing the foot structure of the quadruped robot, a new six-axis foot force sensor used by the quadruped robot is presented and the working principle of the sensor structure is introduced. Firstly, finite element method is used to analyze the static and dynamic characteristic of the elastic body, and then the distribution of strain, the deformation and the inherent frequency of the elastic body are obtained, the curve of strain, the sensitivities and the static couple of the elastic body are attained. The results demonstrate that the six-axis force sensor can meet the demands of the quadruped robot, with a little static couple, high sensitivities and high inherent frequency.