On the dynamic behavior of a wrist force sensor for robots

摘要

A wrist force sensor is an essential component in controlling robot interactions with the environment. In the past years, many kinds of wrist force sensors have been designed and developed. However, in the development of such sensors, the dynamic behavior of the sensors has rarely been investigated due to the complexity involved. To provide the designers and users of the sensors with insights into the dynamic performance of a designed sensor, we present in this paper the study of the dynamic behavior of the sensor. First of all, the dynamic behavior of typical sensing elements of the sensor is analyzed. Then a dynamic model of a wrist force sensor is developed, taking into account the effects of the mass and orientation of the end effector of a robot. Finally, a computer simulation is carried out in both time-domain and frequency domain, highlighting the effects of the end effector of a robot on the dynamic behavior of the sensor.