Development of a passive sensorial foot for load-bearing walking robots that is more cost-effective than the sensors available on the market.
The Setup of the 3-axis Force Sensor
The 3-axis force sensor is based on an aluminium feather-spring component in a cylindric beam-structure. This setup is easy to produce and cost-effective.
To measure the forces in x, y, and z direction, three strain gauge full bridges were installed:
- Measuring the z direction: Four transducer strain gauge rosettes K-TA11K3/350 were installed inside the feather-spring component with a cold curing two-component adhesive.
- Measuring the x and y direction: Eight transducer strain gauges K-LU13K1.6/350 were attached outside of the feather-spring component. Due to the stick-on design the transducer strain gauges could be applied hot and user-friendly.
The strain gauges are arranged like demonstrated in the figure 1. Strain gauges number 1-4 measure the z direction, strain gauges 5-12 measure the x and y direction.