Structure Design for the Elastic Body of a Six-axis Wrist Force Sensor

Calculating model on static and dynamic characteristics of the elastic body of a wrist force sensor used in space robot is built with finite element method. The stress distribution pattern for various load cases, natural frequencies and vibration shapes of the elastic body are analyzed. The influence of main structure parameters on static and dynamic characteristics is investigated comprehensively by using orthogonal test design. The regression equations between the structure parameters and performances of the sensor are obtained by using step regression analysis based on numerical results. And the optimization design of elastic body for the wrist force sensor is put into implementation.