抄録
This paper describes a six-axis force sensor for robot manipulators, which consists of a cross-shaped plate spring formed from a 160 mm×160 mm beryllium-coper plate 1 mm thick. The plate spring is twisted through an angle of 90°at mid-point of each branch of the cross- shaped spring, so that it consists of eight flat springs aligned on two orthogonal axes. Six components of the force/torque vector acting on the end-effector are measured using strain gauges cemented on sixteen locations of the plate spring. Optimal locations of strain gauges are determined through the calculation of strairk distribution caused by each component of the force/torque vector. A simple setup for calibraition of the sensor, which consist of a pair of commercial linear guides, a pair of force indicating meters, and a pair of micrometer heads, is presented. Performance characteristics of the sensor are examined in detail.
