Development of a Novel Two-Axis Force Sensor for Chinese Massage Robot
In order to judge and control applied force of Chinese massage robots end-effector on human body accurately, multi-dimensional interactive forces between massage robots end-effector and human should be measured. In this paper, a novel two-axis force sensor suitable for massage robots end-effector is presented, which is much smaller than existing sensors but in the same range measurement. Mechanical structure is introduced, theoretical analysis of elastic body is made, and finite element analysis is used to analyze its static characteristic. Then, the distribution of strain gauges and design of Hilton Bridge Circuit are described in detail. Finally, a prototype is fabricated. Decoupling algorithm is designed to reduce the interference error. The result of static calibration experimental data shows that the sensor has features of high precision and sensitivity.
Force sensor two-axis elastic body finite element analysis
Ma Junqing Song Aiguo
Jiangsu key lab of Remote Measurement and Control, School of Instrument Science and Engineering, Sou Jiangsu key lab of Remote Measurement and Control, School of Instrument Science and Engineering, Sou
国际会议
湘潭
英文
299-304
2011-07-19（万方平台首次上网日期，不代表论文的发表时间）