A-19 キックロボット用センサ・フットの開発研究 : キック力計測用センサ部構造の提案(サッカー)

抄録

An instrumented device equipped with strain gauges was designed to measure exerting forces upon the ball kicked by the impact type ball ejection unit. The device consists of L-shape aluminum alloy beam, contact plate and a connector with the ejection unit Seven pairs of strain gages were attached on the beam connected to the ejection units. The output of the sensors was converted into the values of forces by resolving the static equilibrium equations. The results from the calibration procedure shows good agreement between actual forces measured with load cell and calculated forces with strain gauge signals exerted on the device. The results obtained from the measurement in kick motion with use of the instrumented device shows : (1) The normal component of the force with respect to the contact plate were large relative to those of other axial components, and (2) the tangential component of the force was oscillating during contact.