A novel 6-DOF force/torque sensor for COBOTs and its calibration method

Phan, Tan-Phat; Chao, Paul C.-P.; Cai, Jiajun; Wang, Yu-Jen; Wang, Sheng‐Ching; Wong, Kyle

doi:10.1109/icasi.2018.8394511

Cited by 10 publications

(1 citation statement)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The experimental calibration describes the linearity error, the repeatability error, and the cross-talk error of the fabricated dynamometer. Multi-dimensional measurement models have a great scope in robot designing, NASA satellite, rocket engine thrust testing, aerodynamic force measurement in the wind tunnel, the process of industrial manufacturing and control, biomedical equipment, military equipment, and many other applications [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Theoretical and experimental research of six-dimensional force / moment measurement piezoelectric dynamometer

Danaish

Ren²,

Zhang³

et al. 2022

JMES

View full text Add to dashboard Cite

High-accuracy measurement for force is essential in the Robotics design, Rocket thrust, manufacturing process, and biomedical equipment. To realize the multi-dimensional force/moment measurement, a multi-points force / moment measurement piezoelectric dynamometer capable of measuring spatial force information has been developed. The experimental prototype dynamometer is fabricated according to the designed numerical simulation model (Finite element method: FEM) in which eight three-axis piezoelectric sensors are uniformly distributed in a zigzag pattern. The constructed dynamometer is calibrated both statically and dynamically, static calibration is carried out using a manual hydraulic loader, and the dynamic calibration is performed by impact load technique. The maximum error difference between the theoretical simulations and experimental analyses is approximately 7%. The experimental calibrated results evaluate that the cross-talk error of the applied axile force, normal force and pitch moment is less than 4% and the natural frequency of the dynamometer in each coordinate is greater than 0.35 kHz.

show abstract

Section: Introductionmentioning

confidence: 99%