基于y型梁的微型六轴力/扭矩传感器弹性体结构设计

2021 IEEE International Conference on Emergency Science and Information Technology (ICESIT) Pub Date : 2021-11-22 DOI:10.1109/ICESIT53460.2021.9696940

Yi Wang, Zongfeng Li

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引用次数: 0

摘要

为了满足机器人手指端力的测量要求，本文设计了一种基于y形梁的微型六轴力/扭矩传感器。对所提出的六轴力/扭矩传感器进行了力学建模、静力分析、桥架选择和最小二乘法解耦，保证了方案的可行性和测量精度。

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Structure design of elastomer of miniature six-axis force/torque sensor based on Y-type beam

In order to meet the measurement requirements of the end force of the robot finger, this paper designs a miniature six-axis force/torque sensor based on the Y-shaped beam. Mechanical modeling, static analysis, bridge selection and least square method decoupling are carried out on the proposed six-axis force/torque sensor, which ensures the feasibility of the scheme and measurement accuracy.

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2021 IEEE International Conference on Emergency Science and Information Technology (ICESIT)

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