NOVEL DECOUPLED AND ISOTROPIC 5-AXIS FORCE/TORQUE ROBOT SENSOR

Gao Feng

(School of Mechanical and Power Energy Engineering, Shanghai Jiaotong University, Shanghai 200030)

Chen Yulong

(School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004)

Peng Binbin

(School of Mechanical Engineering, Beijing  University of Aeronautics and Astronautics,    Beijing 100083)

Li Weimin  Zhang Jianjun

(School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130)

 Abstract: The design feature of a novel 5-axis force/torque robot sensor based on parallel 4-SPS&1-UPU architecture is presented. The isotropy index of the sensor and the transformation between of force and strain are analyzed, which is useful for the optimal design and application of the sensor. The results show that the sensor is decoupled and isotropic. Because the elastic joints are proposed for the real spherical joints and the real universal joints, the sensor has dexterous architecture and good technological advantage. It can be applied to robotic finger, etc.

Key words: Robot  Force sensor  Isotropy  Parallel  mechanism

CLC No: TP242  TM930.2

国家自然科学基金杰出青年基金(50125515)和天津市自然科学基金 (003601311)资助项目 . Received 20030514, received in revised form 20040401