Design and Analysis of a Novel Miniature Two-Axis Force Sensor

摘要

With the development of bionic robot intelligence, the adaptability to unknown environment and dexterous operation of tiny objects put forward higher requirements on the performance of the robot's end actuators. The multi-dimensional force sensor is the core component of the robot's perception of external forces and smart operation. Therefore, this paper introduces a method for a kind of two-dimensional force sensor for robot finger joint torque measurement, including elastomer structure and micro resistance strain gauge bridge design. After measuring experiment and algorithm calibration, ideal output characteristic curve is obtained, verifying the feasibility and effectiveness of the method of miniature two-dimensional force sensor for bionic robot finger.