A sensor, measuring three directions of applied forces and torques, respectively, is being developed. It employs strain gauges to measure the deformation of a specific steel structure, on which they are bonded. The goal is to achieve a sensor, that is able to measure high loads while being lightweight itself. Its meant to integrate directly into the mechanical structure of a robot to measure the forces and torques, which are applied to the robots extremities.
Six analog strain signals, delivered by twelve strain gauges, will be processed by a microcontroller to identify the forces and torques. Algorithms for processing have been be developed and implemented on the microcontroller. A key task is the characterization and calibration of the whole sensor-system by application of real forces.
This presentation will give an overview about the current progress of the project.
