Fast Estimation of Strains for Cross-Beams Six-Axis Force/Torque Sensors by Mechanical Modeling

Ma, Jan; Song, Aiguo

doi:10.3390/s130506669

Cited by 63 publications

(25 citation statements)

References 15 publications

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“…He considered the measurement sensitivity, but ignored stiffness of the sensor which is a very important index. Junqing Ma and Aiguo Song [22] introduced six-axis force/torque sensor by analytical solutions of strains under the effect of external force/torque in each dimension based on quasi-static Timoshenko beam. In practice, it is hard to get the enough accurate mathematically analyze model.…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of a novel six-axis force/torque sensor for space robot

et al. 2015

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Section: Introductionmentioning

confidence: 99%

Design and optimization of a novel six-axis force/torque sensor for space robot

et al. 2015

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“…The motivation can be ascribed to the reliability of this solution, to the large stiffness of the sensor that does not introduce destabilizing effects when applied on conventional industrial manipulators, to the wide literature about the optimization of this sensing principle [1], [2] and to the relatively simple numerical methods for the estimation of strain in multi-axis F/T sensors [3]. This technological solution has been used in a wide number of different robotic applications, e.g.…”

Section: Introductionmentioning

confidence: 98%

On the bandwidth of 6-axis force/torque sensors for underwater applications

Palli

Moriello

Melchiorri

2015

OCEANS 2015 - Genova

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The effect of the rubber sealing on the bandwidth of an optoelectronic force/torque sensor for underwater robotic applications is investigated in this paper. If compared to commercial F/T sensors, such as the ones for industrial applications, the sensor here described is designed in such a way to present a considerable compliance to deal with uncertainties both in the object shape and in the environments. Moreover, optoelectronic components have been used as sensible elements for the development of the device, allowing a relatively simple and reliable sensor implementation. These properties allow an easy sensor integration in complex robotic systems, such as in the fingers of robotic a gripper for underwater applications.The basic working principle and the design of the sensor are presented in the paper, and its main features are discussed to illustrate by means of experimental data. Finally, the investigation and the experimental validation of the device used as an intrinsic tactile sensor are reported, and the comparison of different materials for the rubber sealing in terms of their effects on the sensor performance is discussed.

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“…The motivation behind this fact can be ascribed to the reliability of this solution, to the wide literature about the optimization of this sensing principle [1,2], to the relatively simple numerical methods for the estimation of strain in multi-axis F/T sensors [3] and to the large stiffness of the sensor that does not introduce destabilizing effects when applied on conventional industrial manipulators. As a consequence, this technological solution has been used in a wide number of different robotic applications, e.g.…”

Section: Introductionmentioning

confidence: 99%