Modeling for Elastomer Displacement Analysis of Capacitive Six-Axis Force/Torque Sensor

Pu, Minghui; Luo, Qi; Liang, Quan; Zhang, Jinhao

doi:10.1109/jsen.2021.3132387

Cited by 14 publications

(6 citation statements)

References 20 publications

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“…When external forces are applied to the moving platform, there are larger axial forces corresponding to certain force branches for each dimension of the external force. From this, we find that configurations (1,7), (2,7), (3,7), (4,7), (5,7), (1,8) and (2,8) can also be concatenated to synthesize the required nearly singular configurations in various dimensions. A total of 16 eight-branch nearly singular configurations can be synthesized to meet the requirements of various tasks.…”

Section: Modeling Type Synthesis Of Nssmmentioning

confidence: 97%

“…sensing mechanism. The first type of force-sensing mechanism includes vertical rib [6,7], cross beam [8][9][10][11][12][13], cylinder [14], building block [15], flat plate [16], and other structures [17][18][19]. The second type of force-sensing mechanism is developed based on a parallel mechanism, which includes the 6-SPS (Spherical joint-Prismatic joint -Spherical joint) parallel type [20,21], and 3-RPPS (Prismatic joint-Prismatic joint-Spherical joint) parallel type [22].…”

Section: Introductionmentioning

confidence: 99%

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Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics

Cai,

Yao,

Gao

et al. 2024

Meas. Sci. Technol.

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The high sensitivity six-dimensional force sensor is the core component of intelligent robot force feedback perception, which is related to the structure of the sensor. This paper proposed a new modeling method to chain the near singular eight-branch Stewart mechanism, which indicates the relationship between structural parameters and sensitivity. The new method gains 16 new configurations by innovating the traditional Stewart institution. Configuration with high sensitivity in Fz, Mx and My directions is selected for further study. The theoretical stiffness model and force mapping model show that the sensitivity of the new structure can be amplified by 4 times in specific degrees of freedom. The results show that the nonlinear error and coupling error are 2.77% and 2.26%, respectively. The proposed method can be widely applied in the field of parallel six-dimensional force sensors.

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Section: Modeling Type Synthesis Of Nssmmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics

Cai,

Yao,

Gao

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…However, piezoelectric materials are structurally fragile and easily damaged, which results in ageing and fatigue under long-term electromechanical coupling. When a capacitive six-axis force sensor [18][19][20][21][22] is subjected to an external load, the electrode plate of the capacitor produces a spacing change, relative dislocation, or posture deflection, resulting in capacitance charge and discharge. The sensor maps the force/torque of each dimension based on changes in the electrical signal.…”

Section: Introductionmentioning

confidence: 99%

Development and calibration of large deformation-compliant six-axis force sensor

Huang,

Yin,

et al. 2024

Meas. Sci. Technol.

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Improving the measurement accuracy and minimising the coupling between directions are the keys to researching the compliant six-axis force sensors.The use of a six-axis force sensor to accurately monitor the ground reaction force (GRF) and centre of pressure (COP) during human motion is of great significance in the fields of biomechanics and pathological gait diagnosis. Although complete force information can be obtained using a commercial six-axis force sensor, its high stiffness affects the natural gait and easily leads to human fatigue. A compliant six-axis force sensor based on a flexible optical waveguide is proposed, in which the force and torque of six dimensions are detected by reasonably arranging six modular sensing units, and the mechanical decoupling of some dimensions is realised in theory. For the interdimensional coupling and error caused by machining process factors, as well as the nonlinear relationship between the input and output of the proposed compliant six-axis force sensor, a DE-RBF decoupling algorithm is proposed to decouple the calibration data. Compared with the least squares method (LSM) and the radial basis function (RBF) neural network decoupling algorithm, the obtained type-I errors were reduced by 87.7629%, 43.6265%, respectively, and type-II errors by 35.3312%, 56.9162%, respectively. The decoupling result's maximum type-I and type-II errors were reduced from 7.7125% and 2.7382% in LSM and 3.1029% and 2.8917% in RBF to 0.5916% and 0.9558%, respectively. The measurement accuracy of the compliant six-axis force sensor was significantly higher; however, the time effectiveness of the proposed DE-RBF decoupling algorithm was slightly lower than that of the RBF neural network by 2.47%. In conclusion, the decoupling accuracy and timeliness of the proposed DE-RBF decoupling algorithm can satisfy the requirements of compliant six-axis force sensors to monitor low-frequency biomechanical signals, such as human motion.

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“…He et al proposed a six-component wheel force transducer with 24 strain gauges coupled to 3.8% (He et al, 2019). In addition, according to other sensing principles, other types of sensors have emerged, such as capacitive-type sensors (Park and Desai, 2020;Pu et al, 2022). Those sensors have good measurement performance, however, due to the weak current and voltage are the signals we detect, they also have some obvious disadvantages, such as sophisticated wiring, sensitivity to electromagnetic interference and so on.…”

Section: Introductionmentioning

confidence: 99%

A three-dimensional fiber Bragg grating wrist force sensor with separation elastic structure

Sun,

Pang,

Liao

et al. 2024

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Purpose The use of a force sensor to estimate the external force of manipulator not only needs to deal with the signal noise of the sensor itself but also needs to solve the coupling interference of the sensor itself, especially the axial force. The purpose of this paper is to develop a three-dimensional fiber Bragg grating (FBG) wrist force sensor, which has a simple structure and reduces the coupling influence between several axes. Design/methodology/approach A particular separation elastic structure with four FBGs is devised for the three-axial force sensor. One FBG is suspended on the profile of central cylinder and the other three FBGs are pasted on the elastic beam surface of the over and under measuring bodies, respectively. Finite element analysis (FEA) simulation has been implemented to the strain distribution characteristics, the output characteristics of each direction and the coupling effects of the structure. Furthermore, theoretical derivation and experimental results are used to compare, which have a good consistency. Findings The experiment results show that the maximum repeatability error of the sensor is 6.75%, the maximum nonlinear error is 5.36%, the maximum coupling interference is 4.73% and the minimum sensitivity is 1.58 pm/N. Originality/value A three-dimensional force sensor based on FBG adopts a particular separation elastic structure. The sensor can reduce the coupling influence between several axes, especially the coupling interference in the z-direction is 0.

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Modeling for Elastomer Displacement Analysis of Capacitive Six-Axis Force/Torque Sensor

Cited by 14 publications

References 20 publications

Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics

Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics

Development and calibration of large deformation-compliant six-axis force sensor

A three-dimensional fiber Bragg grating wrist force sensor with separation elastic structure

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