For biped walking of a humanoid robot a three-axis force/moment sensor in the an-kle, which measures the force F_Z and the moments M_X, M_Y simultaneously is necessary. Thereare many commercially available force/torque six axis sensors. Most of them are relatively big,heavy and expensive. From this reason the mechanical design of a new small size, light weightand low cost three-axis force/moment sensor based on rectangular beams will be described. Inthe paper the equations to calculate the strains of the beams according to the force or the mo-ment are derived. They are used to design the size of sensing parts of the sensor. The reliabilityof the derived equations is verified by a finite element method analysis.
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