Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

Kebede, Getnet Ayele; Ahmad, Anton Royanto; Lee, Shao-Chun; Lin, Chyi‐Yeu

doi:10.3390/s19133012

Cited by 26 publications

(20 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These sleeve bearings enable translation and rotation along the axis. This sliding mechanism is selected because of its ability to generate low cross-talk errors [23]. As presented in Figure 2, the sliding mechanism of the elastic body has two degrees of freedom on each side.…”

Section: Decoupled Structural Designmentioning

confidence: 99%

“…These sleeve bearings enable translation and rotation along the axis. This sliding mechanism is selected because of its ability to generate low cross-talk errors [23].…”

Section: Decoupled Structural Designmentioning

confidence: 99%

“…Every four strain gauges are arranged in a Wheatstone full bridge circuit. Six Wheatstone bridge circuits were developed on the basis of Equation (1) presented in a previous study [23]. This equation was selected as a reference in the present study because of the use of double parallel strain gauges [23].…”

Section: Strain Gauge Arrangementsmentioning

confidence: 99%

“…Otherwise, the contact force between the elastic body and the groove's sidewall affects the structure. This study presents a novel mechanically decoupled six-axis F/M sensor with a sliding and rotating cross-elastic beam structure afforded by a unique strain gauge configuration [23]. In addition, this paper describes the theoretical calculation of the deformation, stress, and strain of the proposed six-axis F/M sensor through analytical modeling.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Lin

Ahmad

Kebede

2020

Sensors

Self Cite

View full text Add to dashboard Cite

In this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by minimized structural interconnection. The forces Fx, Fy, and Fz and moments Mx, My, and Mz can be measured for the six-axis F/M sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum cross-talk errors along the following six axes under different loadings (the errors are presented in parentheses): Fx under SMy (2.12%), Fy under SMx (1.88%), Fz under SMz (2.02%), Mx under SFz (1.15%), My under SFx (1.80%), and Mz under SFx (2.63%). The proposed sensor demonstrated a considerably improved cross-talk error performance compared with existing force sensors.

show abstract

Section: Decoupled Structural Designmentioning

confidence: 99%

“…These sleeve bearings enable translation and rotation along the axis. This sliding mechanism is selected because of its ability to generate low cross-talk errors [23].…”

Section: Decoupled Structural Designmentioning

confidence: 99%

Section: Strain Gauge Arrangementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Lin

Ahmad

Kebede

2020

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…Some commercial shaft torque sensors, which measure strain exposed at 45 • and 135 • to the cylinder neutral-axis with a torsional deformation mode, have been specially used in laboratory testing for a long time [1][2][3][4][5]. Many disk torque sensors developed into spoke-type structures, instead, expose strain on the transverse or lateral spoke-surface with a bending deformation mode [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. Recently, owing to axial thinness and low sensitivity to non-torsional components, they have been extensively integrated in robotic joints, wheel driving and intelligent products.…”

Section: Introductionmentioning

confidence: 99%

A Lever-Type Method of Strain Exposure for Disk F-Shaped Torque Sensor Design

Shu

Chu

Shu

2020

Sensors

View full text Add to dashboard Cite

Disk-shaped torque sensors are widely used in robotic joints and wheel driving. However, in terms of conventional spoke-type geometries, there is always a trade-off between sensitivity and stiffness, because their strain exposure depends upon a bending deformation mode which causes strain nonuniformity. This paper presents a lever-type method of strain exposure that performs a uniaxial tension and compression deformation mode to optimize the strain uniformity and improve the trade-off. Moreover, on the basis of this approach, the proposed disk F-shaped torque sensor enjoys has axial thinness, easy installation of strain gauges and flexible customization. The simulation and experimental results have validated the basic design idea.

show abstract

Robust topology optimization of a flexural structure considering multi-stress performance for force sensing and structural safety

Sung

Lee

Burns

2021

Struct Multidisc Optim

View full text Add to dashboard Cite

This paper demonstrates a new robust topology design formulation for a compliant sensor structure considering multi-stress performance. Compliant mechanism design is one of the main applications of topology optimization that can be used to achieve displacement or force requirements based on its elastic deformation. Most compliant mechanisms have hinge joints where high stress is observed and this should be carefully considered in the design formulation. In this paper, we investigate a new design formulation that considers multiple stress components for force measurement and structural safety in a compliant mechanism-a wind tunnel balance. An internal wind tunnel balance is a multi-axis force sensor that measures aerodynamic forces and moments during wind tunnel testing. For the axial section of the balance, it is required to have substantial stress reading (sensor performance) by the axial load. In this paper, two stress measures are used in the design formation: (1) local directional stress to meet the sensor performance by a small axial force, and (2) normalized P-norm stress with a relaxation approach to ensure the safety of the balance by a large normal force. The high force ratio between axial and normal forces (1:10 +) is investigated in this paper. In addition, a robust approach is applied to reflect the manufacturing uncertainties from three different projected design variables. The manufacturable blueprint designs using this approach show satisfactory performance with respect to sensing and structural safety.

show abstract

Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

Cited by 26 publications

References 20 publications

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

A Lever-Type Method of Strain Exposure for Disk F-Shaped Torque Sensor Design

Robust topology optimization of a flexural structure considering multi-stress performance for force sensing and structural safety

Contact Info

Product

Resources

About