Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

Design of a Six-Axis Force/Moment Sensor using Analytical Method for Humanoid Robot Foot Module

인간형 로봇의 발 모듈 개발을 위한 분석적 방법의 6 축 힘 / 모멘트 센서 설계

  • Yuan, Chao (Department of Mechatronics Engineering, Hanyang University) ;
  • Lim, Dong Hwan (Department of Mechanical Engineering, Hanyang University) ;
  • Luo, Lu Ping (Department of Mechanical Engineering, Hanyang University) ;
  • Han, Chang Soo (Department of Robot Engineering, Hanyang University)
  • 원조 (한양대학교 메카트로닉스공학과) ;
  • 임동환 (한양대학교 기계공학과) ;
  • 라로평 (한양대학교 기계공학과) ;
  • 한창수 (한양대학교 로봇공학과)
  • Received : 2014.12.12
  • Accepted : 2015.03.12
  • Published : 2015.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

The forces and moments exerted on humanoid robot foot are important information for controlling or monitoring the robot. Multi-axis force/moment sensor can be installed under humanoid robot foot to measure forces and moments. The sensor should have large stiffness to support the robot weight and small size not to disturb the motion of the robot. In this paper, we designed a 6-aixs force/moment sensor which has good accuracy, large measuring range, and new compact structure. In addition, the proposed sensor is evaluated using analytical method and FEM(Finite Elements Method) method. Finally, it turned out that it has good performance.

Keywords

References

  1. Sardain, P. and Bessonnet, G., "Gait Analysis of a Human Walker Wearing Robot Feet as Shoes," Proc. of the IEEE International Conference on Robotics and Automation, pp. 2285-2292, 2001.
  2. Nishiwaki, K., Murakami, Y., Kagami, S., Kuniyoshi, Y., Inaba, M., et al., "A Six-Axis Force Sensor with Parallel Support Mechanism to Measure the Ground Reaction Force of Humanoid Robot," Proc. of the IEEE International Conference on Robotics and Automation, pp. 2277-2282, 2002.
  3. Morris, S. J. and Paradiso, J. A., "Shoe-Integrated Sensor System for Wireless Gait Analysis and Real-Time Feedback," Proc. of the 24th Annual Conference and the Annual Fall Meeting of the Biomedical Engineering Society EMBS/BMES Conference, Vol. 3, pp. 2468-2469, 2002.
  4. Yuan, C., Wang, W., Han, C., and Choi, H., "A Three Degree of Freedom Force/Torque Sensor to Measure Foot Forces," Proc. of the 12th International Conference on Control, Automation and Systems, pp. 2028-2032, 2012.
  5. Shams, S., Kim, D. S., Choi, Y. S., and Han, C. S., "A Novel 3-DOF Optical Force Sensor for Wearable Robotic Arm," Int. J. Precis. Eng. Manuf., Vol. 12, No. 4, pp. 623-628, 2011. https://doi.org/10.1007/s12541-011-0080-1
  6. Kim, I.-M., Kim, H.-S., and Song, J.-B., "Design of Joint Torque Sensor with Reduced Torque Ripple for a Robot Manipulator," Int. J. Precis. Eng. Manuf., Vol. 13, No. 10, pp. 1773-1779, 2012. https://doi.org/10.1007/s12541-012-0233-x
  7. Lee, S.-H., Kim, Y.-L., and Song, J.-B., "Torque Sensor Calibration using Virtual Load for a Manipulator," Int. J. Precis. Eng. Manuf., Vol. 11, No. 2, pp. 219-225, 2010. https://doi.org/10.1007/s12541-010-0025-0
  8. Song, A., Wu, J., Qin, G., and Huang, W., "A Novel Self-Decoupled Four Degree-of-Freedom Wrist Force/Torque Sensor," Measurement, Vol. 40, No. 9, pp. 883-891, 2007. https://doi.org/10.1016/j.measurement.2006.11.018
  9. Kim, G.-S., "Design of a Six-Axis Wrist Force/Moment Sensor using FEM and Its Fabrication for an Intelligent Robot," Sensors and Actuators A: Physical, Vol. 133, No. 1, pp. 27-34, 2007. https://doi.org/10.1016/j.sna.2006.03.038
  10. Kim, G.-S., Shin, H.-J., and Yoon, J., "Development of 6-axis force/moment sensor for a Humanoid Robot's Intelligent Foot," Sensors and Actuators A: Physical, Vol. 141, No. 2, pp. 276-281, 2008. https://doi.org/10.1016/j.sna.2007.08.011
  11. Liang, Q., Zhang, D., Song, Q., Ge, Y., Cao, H., et al., "Design and Fabrication of a Six-Dimensional Wrist Force/Torque Sensor based on E-Type Membranes Compared to Cross Beams," Measurement, Vol. 43, No. 10, pp. 1702-1719, 2010. https://doi.org/10.1016/j.measurement.2010.09.010
  12. Shams, S., Lee, J. Y., and Han, C., "Compact and Lightweight Optical Torque Sensor for Robots with Increased Range," Sensors and Actuators A: Physical, Vol. 173, No. 1, pp. 81-89, 2012. https://doi.org/10.1016/j.sna.2011.10.019
  13. Svinin, M. M. and Uchiyama, M., "Analytical models for Designing Force Sensors," Proc. of the IEEE International Conference on Robotics and Automation, pp. 1778-1783, 1994.
  14. Svinin, M. M. and Uchiyama, M., "Optimal Geometric Structures of force/torque sensors," The International journal of Robotics Research, Vol. 14, No. 6, pp. 560-573, 1995. https://doi.org/10.1177/027836499501400603
  15. Yuan, C., Luo, L.-P., Shin, K.-S., and Han, C.-S., "Design and Analysis of a 6-DOF Force/Torque Sensor for Human Gait Analysis," Proc. of the 13th International Conference on Control, Automation and Systems, pp. 1788-1793, 2013.