クロスアーチ構造の導入によるハイダイナミックレンジ6軸力覚センサの小型化

抄録

This paper proposes a compact High Dynamic Range six-axis Force/Torque sensor (HDR six-axis F/T sensor). The high dynamic range of the force/torque measurement is important for robots to acquire environmental information in various operations. However, conventional HDR F/T sensors were too large to attach to robots. Therefore, we developed a compact HDR six-axis F/T sensor with a novel structure named cross-arch strain body. The developed F/T sensor showed linearity with respect to the force component. Since the multiaxial interference component was also linear, it is considered that it can be removed by calibration. It was also shown that the sensor could detect 0.2N to 500N force.