Beam type hexapod structure based six component force–torque sensor

Dwarakanath, T A; Bhutani, Gaurav

doi:10.1016/j.mechatronics.2011.08.004

Cited by 45 publications

(26 citation statements)

References 6 publications

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“…However, application of these techniques is limited for intense radiation and large temperature variations (−200 ∘ C ∼ +200 ∘ C) in space. On the other side, strain gauge technique, the most commonly used technique for torque sensors within the past decades [24][25][26][27][28], is increasingly applied for stress measurement under high temperature environment these years. This makes strain gauge technique a good choice for the torque sensing as we …”

Section: The Strainmentioning

confidence: 99%

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

NanZhe

Jia

Xue

et al. 2013

Advances in Mechanical Engineering

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This paper describes the development of a compact and lightweight joint torque sensor for space manipulators. Space manipulators with torque sensors can not only apply force control approach to more precise and more dexterous space missions, but also monitor the occurrence of unpredicted events as accidental impacts with objects they have to manipulate. At present, most of the compact torque sensors, designed without consideration of space environment, cannot be directly used in space applications. In this paper, we propose a compact and lightweight design for the joint torque sensor based on strain gauge, for the reason of good physical, chemical, and mechanical stabilities under high temperature environment. In addition, to reduce the interferences by axial forces generated by assembling condition and joint motors, the structural optimization for the sensing element is carried out. The proposed design is simulated by FEM software ANSYS, and it shows successful measurements of the torque with a load capacity of 10 Nm, which is sufficient for the torque generated in robot joints. The effect of axial loading is also analyzed by ANSYS. The designed sensor is manufactured by duralumin alloy. The calibration for the sensor is carried out, and several experiments are conducted to ensure its feasibility with the space manipulator.

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Section: The Strainmentioning

confidence: 99%

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

NanZhe

Jia

Xue

et al. 2013

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…As a result, research to this effect has been conducted by many scholars. Dwarakanath et al proposed a six-dimensional force sensor with a new measurement branch, and the proposed sensor was demonstrated to possess superior isotropy and sensitivity over a conventional sensor configuration [ 20 ]. Zhao et al proposed a conic sphere pair to reduce dimensional coupling [ 21 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor

Zhi

Zhao

et al. 2017

Sensors

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The measurement of large forces and the presence of errors due to dimensional coupling are significant challenges for multi-dimensional force sensors. To address these challenges, this paper proposes an over-constrained six-dimensional force sensor based on a parallel mechanism of steel ball structures as a measurement module. The steel ball structure can be subject to rolling friction instead of sliding friction, thus reducing the influence of friction. However, because the structure can only withstand unidirectional pressure, the application of steel balls in a six-dimensional force sensor is difficult. Accordingly, a new design of the sensor measurement structure was designed in this study. The static equilibrium and displacement compatibility equations of the sensor prototype’s over-constrained structure were established to obtain the transformation function, from which the forces in the measurement branches of the proposed sensor were then analytically derived. The sensor’s measurement characteristics were then analysed through numerical examples. Finally, these measurement characteristics were confirmed through calibration and application experiments. The measurement accuracy of the proposed sensor was determined to be 1.28%, with a maximum coupling error of 1.98%, indicating that the proposed sensor successfully overcomes the issues related to steel ball structures and provides sufficient accuracy.

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“…The Gough–Stewart platform is a typical parallel mechanism in the field of sensors [ 8 , 9 , 10 , 11 , 12 ], and this platform was adopted as a six-dimensional force/torque sensor by Kerr in early research [ 13 ]. To improve the system, Dwarakanath et al developed a ring-type sensing element for the Stewart platform [ 14 , 15 ]. Seibold et al designed a six-dimensional force sensor with elastic joints for minimally invasive surgery [ 16 ], and Nicholas developed a sensor for biomechanical measurement [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

A Small Range Six-Axis Accelerometer Designed with High Sensitivity DCB Elastic Element

Sun

Liu

et al. 2016

Sensors

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This paper describes a small range six-axis accelerometer (the measurement range of the sensor is ±g) with high sensitivity DCB (Double Cantilever Beam) elastic element. This sensor is developed based on a parallel mechanism because of the reliability. The accuracy of sensors is affected by its sensitivity characteristics. To improve the sensitivity, a DCB structure is applied as the elastic element. Through dynamic analysis, the dynamic model of the accelerometer is established using the Lagrange equation, and the mass matrix and stiffness matrix are obtained by a partial derivative calculation and a conservative congruence transformation, respectively. By simplifying the structure of the accelerometer, a model of the free vibration is achieved, and the parameters of the sensor are designed based on the model. Through stiffness analysis of the DCB structure, the deflection curve of the beam is calculated. Compared with the result obtained using a finite element analysis simulation in ANSYS Workbench, the coincidence rate of the maximum deflection is 89.0% along the x-axis, 88.3% along the y-axis and 87.5% along the z-axis. Through strain analysis of the DCB elastic element, the sensitivity of the beam is obtained. According to the experimental result, the accuracy of the theoretical analysis is found to be 90.4% along the x-axis, 74.9% along the y-axis and 78.9% along the z-axis. The measurement errors of linear accelerations ax, ay and az in the experiments are 2.6%, 0.6% and 1.31%, respectively. The experiments prove that accelerometer with DCB elastic element performs great sensitive and precision characteristics.

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Beam type hexapod structure based six component force–torque sensor

Cited by 45 publications

References 6 publications

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor

A Small Range Six-Axis Accelerometer Designed with High Sensitivity DCB Elastic Element

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