本論文旨在改善本實驗室先前所設計之雙足機器人的結構和發展機器人的六軸力感測器。在機械結構的部分，從改善機器人髖關節自由度、設計配重及用ANSYS Workbench軟體模擬機器人的結構以達到輕量化等三個方向做設計。在六軸力感測器上，吾人設計一個感測器的結構並用應變規來做量測，應變規所得的輸出電壓必須經過解耦合矩陣及力-力矩的校正計算，才可得到所有軸向的力及力矩。最後實驗結果得知六軸力規的Fz、Mx和My具有良好線性度，而Fx、Fy和Mz線性度並不好，對於機器人的步態平衡控制而言只需Fz、Mx和My的軸向即可，所以此六軸力規適用於本實驗室之機器人系統。

The aim of this thesis is to improve the mechanical structure of a previously designed biped robot and to develop a six-axis force sensor for the robot. For the mechanical structure,we improve the freedom of the hip joints,design the counterpoise and use the software of ANSYS Workbench to achieve light-weighting design.For the design of the six-axis force sensor,we design the sensor's structure and use the strain gauges to measure forces and moments.A decoupled matrix transformation and force-moment calibration are used to obtain the corresponding forces and moments.Finally,experimental results show that there is a good linearity in Fz、Mx and My,but the linearity in Fx、Fy and Mz is not good.However,to maintain balance walking for a robot,only measurements of Fz、Mx and My are need. According to the results, this six-axis force sensor is applicable to the robot system developed in our laboratory.

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