为足式机器人设计轻量非接触式六维力传感器，提升测量精度与耐用性。
Parameter Optimization of Optical Six-Axis Force/Torque Sensor for Legged Robots
- 采用光电耦合器实现非接触测量，抗冲击性强
- 通过参数优化提升灵敏度并降低误差，理论与实测一致
- 适合足式机器人地面交互分析，可广泛用于复杂环境
本文提出一种专为紧凑轻量化足式机器人设计的新型六维力/力矩传感器。区别于传统应变片式传感器，该非接触式设计采用光电耦合器，显著提升抗物理冲击能力，降低损坏风险。该方案简化制造流程，降低成本，同时满足足式机器人对小型化、轻量化及宽量程力测量的需求。论文提出一套传感器参数优化方法，聚焦最大化灵敏度与最小化误差，通过精确建模与目标函数分析，推导出最优设计参数。传感器性能经大量测试验证，并成功集成至四足机器人中，实测结果与理论模型高度吻合。其高精度测量能力适用于多种机器人场景，尤其在分析机器人足部与地面相互作用方面表现优异。该创新有效解决现有传感器局限，推动机器人与传感技术发展，为未来机器人系统应用奠定基础。
原文摘要 · Abstract (English)
This paper introduces a novel six-axis force/torque sensor tailored for compact and lightweight legged robots. Unlike traditional strain gauge-based sensors, the proposed non-contact design employs photocouplers, enhancing resistance to physical impacts and reducing damage risk. This approach simplifies manufacturing, lowers costs, and meets the demands of legged robots by combining small size, light weight, and a wide force measurement range. A methodology for optimizing sensor parameters is also presented, focusing on maximizing sensitivity and minimizing error. Precise modeling and analysis of objective functions enabled the derivation of optimal design parameters. The sensor's performance was validated through extensive testing and integration into quadruped robots, demonstrating alignment with theoretical modeling. The sensor's precise measurement capabilities make it suitable for diverse robotic environments, particularly in analyzing interactions between robot feet and the ground. This innovation addresses existing sensor limitations while contributing to advancements in robotics and sensor technology, paving the way for future applications in robotic systems.
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