Development of High-Stiffness and High-Sensitivity 6-Axis Robot Force Sensor

为了使机器人多指手能够灵巧地进行物体抓取和操作，需要高刚度、高灵敏度的指尖力传感器。通常，从以前的传感结构来看，如果传感器的刚度更高，则其灵敏度将降低。在以往的研究中，传感器的顶部和底部之间串联了一个用于传感的弹性体，这样，整个施加的力将通过弹性体产生变形，并且梁的刚度将被降低以获得更高的灵敏度。在本研究中，一个传感弹性体与另一个物体平行连接在传感器顶部和其底部之间，使得仅需要施加的力的一部分来产生传感器变形。并且，使用该机制，可以使灵敏度和传感器刚度更高。对于感测弹性体和另一个体平行布置的情况，由于感测弹性体具有较低的刚度， ...更多信息 由于另一个本体具有较高的刚度，所以另一个本体的弯曲变形可以使感测弹性体弯曲变形。另一方面，感测弹性体将对另一个体弯曲产生阻力。因此，另一个弹性体的刚度加上敏感弹性体的刚度，使得机构的整体刚度更高。本研究提出了一种新型的六维力传感机构--应变-变形膨胀机构。通过该力传感机构，可以扩展用于力传感的小应变-变形，而传感器的刚度不会降低，而是会增加。本文通过对传感机构的变形和传感器受力的理论分析，阐述了力传感原理。讨论了传感机构在6个方向上实现相同灵敏度的途径，给出了实现高灵敏度传感机构的设计方法。最后通过实验验证了该传感机制的基本特性和有效性。少

For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the fingertip forces with high stiffless and high-sensitivity is desired. In general, from previous sensing structures, if the stiffness of a sensor is made be higher, its sensitivity will be reduced. In the previous researches, an elastic body for sensing is fitted between a sensor' s top and its base in series, so that the whole applied force will pass though the elastic body for yielding a deformation and the beam stiffness will be reduced for higher sensitivity. In this research, a sensing elastic body is connected with another body in parallel between the sensor top and its base, so that only a part of applied force is required for yielding a sensor deformation. And, using this; mechanism, the sensitivity and the sensor stiffness can be made higher. For the case when the sensing elastic body and the other body are arranged in parallel, since the sensing elastic body has lower stif … More fness and the other body has higher stiffness, a bending deformation of the other body can make a bending deformation on the sensing elastic body. On the other hand, the sensing elastic body will give their resistances to the other body bending. Accordingly, the stiffness of the other body added the stiffness of the sensing elastic body makes the whole stiffness of the mechanism higher.This research proposes a novel mechanism called Strain-Deformation Expansion Mechanism for 6-axis force sensing. By the force sensing mechanism, the small strain-deformation used for force sensing can be expanded while the sensor stiffness will not be reduced but will be heightened. In this research, the force sensing principle is addressed by analyzing the deformation of the sensing mechanism and the forces acting on the sensor theoretically. Then, an approach about the realizable of the same sensitivity of the sensing mechanism in 6 directions is discussed, and a design method for realizing the sensing mechanism with high sensitivity is given. Lastly, some experiments are performed to show the basic characteristics and the effectiveness of the sensing mechanism. Less