Transactions of Nanjing University of Aeronautics & Astronautics
Design of a Foot-End Three-Axis Force Sensing Module for Gecko-Like Robot
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Abstract:
The problems of attachment failure and detachment impact within gecko-like robots’ locomotion control are considered in this paper. A real-time foot-end force intelligent sensing module with integrated sensing and structure is developed to help the robot get the foot-end force information in time and realize stable locomotion in an uncertain environment. Firstly， a structure/sensing integrated elastomer based on a Maltese cross /cantilever beam structure is completed by designing and finite element analysis. Secondly， a real-time data acquisition and transmission system is designed to obtain the foot-end reaction force which is miniaturized and distributed. Thirdly， based on this system， a force sensor calibration platform is built to complete the calibration， decoupling， and performance testing of the sensing module. Finally， the experiment of single-leg attachment performance is carried out. The results indicate that the three-axis sensing module can detect robot’s weight， measure the reaction force with high precision and provide real-time force from robot’s foot end.
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Project Supported:
This work was supported by the National Natural Science Foundation of China （Nos.31601870， 51435008）， and Jiangsu Educational Innovation Program （No.KYLX16_0328）.
Clc Number:
TP242
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