DESIGN OF AN INTELLIGENT WRIST FORCE TRANSDUCER

The working principles and the existing problems of the crossbeam structure wrist force transducer with six-degree-of-freedom are analyzed, and an intelligent scheme that reduces the number of strain gauges and simplifies the mechanism structure, the electric circuits, and the data dealing is proposed. In the three main beam transducer proposed in this paper, only six strain gauges are required to measure the six-degree-of-freedom force. So,the strain gauge, amplifier and A/D converter circuits are further simplified, and the micro controller PIC14000 is used to sample the data and convert them into actual force and moment values. With the I²C bus, the measured value and differentials can be transmitted to the host.