三肢体机器人足部力传感器弹性体分析

提出将传感器传递矩阵条件数和行范数两项指标综合的方法,对一种三肢体机器人的足部三维力传感器弹性体结构进行优化,使传感器在具有低传递误差的同时具有较高的灵敏度.并应用有限元法分析了弹性体各结构尺寸对传感器性能的影响,得到了弹性体在单向受力时的应力、应变分布状态及其静、动态特性,为传感器的结构设计和进一步分析提供了依据.

Elastic Body Analysis of Foot Force Sensor on a Three-Limb Robot

A method is suggested to combine the two indexes of condition number and row norm of the sensor transfer matrix to optimize the elastic body structure of the three force/torque sensor used by the three limb robot feet, and it enables the sensor of a small transfer error and meanwhile a high sensitivity. Finite element method was used to analyze the effects of the elastic body structure parameters on the sensor capacities, and the stress and strain statue under a single direction force, the static and dynamic characteristics of the elastie body have been attained to support for the structure design and future analysis.