| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 101 === The aim of this thesis is to improve the mechanical structure of a previously designed biped robot and to develop a six-axis force sensor for the robot. For the mechanical structure,we improve the freedom of the hip joints,design the counterpoise and use the software of ANSYS Workbench to achieve light-weighting design.For the design of the six-axis force sensor,we design the sensor's structure and use the strain gauges to measure forces and moments.A decoupled matrix transformation and force-moment calibration are used to obtain the corresponding forces and moments.Finally,experimental results show that there is a good linearity in Fz、Mx and My,but the linearity in Fx、Fy and Mz is not good.However,to maintain balance walking for a robot,only measurements of Fz、Mx and My are need. According to the results, this six-axis force sensor is applicable to the robot system developed in our laboratory.
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