Abstract: In this paper a study for the design of a robot wrist force sensor using an isostatic structure is given. Items studied are; design outline; derivation of the matrix relating generalized forces acting at the gripper with those measured at the structure; the condition number of the aforementioned matrix in closed form; the determination of design parameters for maximum accuracy via condition-number minimization. Some results are obtained for design purposes from which either the optimum or suboptimum values can be obtained.

Key words: 机器人, 力控制与力敏感, 手腕测力装置