1.School of Instrument Science and Engineering, Southeast University, Nanjing, Jiangsu 210096, China
2.China Astronaut Research and Training Center, Beijing 100094, China
Abstract：A three dimensional force sensor is designed for simulating the humanoid dexterous hand. Using the structure of the combination of the cross beam and the central straight beam to achieve perception of three-dimensional force, using ANSYS tool for the design of cross beam elastic body statics is analyzed, optimized through the analysis of the structure size of elastomer, and give the optimal placement scheme. The static calibration experiment was conducted on the designedthree-dimensionalfingertip force sensor, andestablished the dimension coupling error model, using the static decoupling algorithm to decouple the error of sensor, effectively improve measurement precisionof the fingertip threedimensional force sensor. The experimental resultsmake knowthat the measurement precision of the designed three-dimensional fingertip force sensor is better than 2.5%.
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2018, Vol. 39 
