인간형 로봇을 위한 6축 힘/모멘트센서 개발

Abstract

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneventerain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and becontroled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's handby the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoidrobot's hand and foot.In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams).The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoreticalanalysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and thecharacteristic test of the developed sensor was caried out. The rated outputs from theoretical analysis agree well withthe results from the experiments.