組合せ理論に基づく6軸力覚センサの設計に関する基礎的研究

抄録

Three-axis force sensors based on the principle of pressure pick-up device are characterized by their manufacturability, simple structure, and miniature size. This paper proposes a new six-axis force sensors composed of two three-axis force sensors and connector. This type of sensor is called Twin-Head type Six-Axis Force Sensor or TH force sensor for short. This paper first describes the theoretical basis for the operation of TH force sensors and provides the characteristic matrix connec-ting the load and sensor output vectors. It is shown that six types of three-axis sensor are theoretically conceivable, and proved that while there are twenty-one combinations, ten combinations can result in their characteristic matrices full ranks. An optimal design approch is introduced to obtain the best sensor configuation using Singular Value Decomposition (SVD) technique. We also show a design orientation using practical six-axis force sensor with experimental validation.