Robust and Inexpensive Six-Axis Force–Torque Sensors Using MEMS Barometers

Guggenheim, Jacob; Jentoft, Leif P.; Tenzer, Yaroslav; Howe, Robert D.

doi:10.1109/tmech.2017.2654446

Cited by 46 publications

(25 citation statements)

References 12 publications

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“…S2b). Compared with existing sensors 22,[24][25][26][32][33][34] , the proposed sensor has a ten thousand times higher resolution and a one hundred times wider dynamic range (Table 1), which allows it to measure the mechanical properties of the materials at the micron/ submicron scale.…”

Section: Microelectromechanical Resonant Torque Sensor With Ultrahighmentioning

confidence: 99%

“…Currently, this technique is regarded as an effective method to study the scale effect of micro/ nanomaterials 19 , and recent advances have enabled the in situ SEM tensile/bending testing of micro/nanomaterials 20,21 . However, torsion testing at a small scale remains a major challenge due to its requirements for high-resolution torque sensing, large manipulation flexibility, and accurate assembly capability 22,23 .…”

Section: Introductionmentioning

confidence: 99%

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Robot-aided fN∙m torque sensing within an ultrawide dynamic range

Wang

Wei

et al. 2021

Microsyst Nanoeng

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In situ scanning electron microscope (SEM) characterization have enabled the stretching, compression, and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale phenomena. However, as one of the fundamental approaches for material analytics, torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly strategy. Herein, we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 dB. Moreover, we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first time. As a demonstration, we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk counterparts. The proposed torsion characterization system pushes the limit of mechanical torsion tests, overcomes the deficiencies in current in situ characterization techniques, and expands our knowledge regarding the behavior of micro/nanomaterials at various loads, which is expected to have significant implications for the eventual development and implementation of materials science.

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Section: Microelectromechanical Resonant Torque Sensor With Ultrahighmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robot-aided fN∙m torque sensing within an ultrawide dynamic range

Wang

Wei

et al. 2021

Microsyst Nanoeng

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“…The six-axis combined sensor MPU6050 is functionally equivalent to a combination of a three-axis acceleration sensor and a three-axis gyroscope (Liu et al , 2013). It was mounted on the upper plane of the platform to obtain the dynamic 3 D attitude of the platform via the Euler angles detected (Wu and Cai, 2013) (Guggenheim et al , 2017). Four electric cylinders were mounted at the four respective corners of the platform.…”

Section: Drilling Robot Leveling Principlementioning

confidence: 99%

Four-point dynamic leveling method for drilling platform application

2021

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Purpose It is essential to level the drilling platform across which a drilling robot travels in a slant underground coal mine tunnel to ensure smooth operation of the drill rod. However, existing leveling methods do not provide dynamic performance under the drilling conditions of the underground coal mine. A four-point dynamic leveling algorithm is presented in this paper based on the platform attitude and support rod displacement (DLAAD). An experimental drilling robot demonstrates its dynamic leveling capability and ability to ensure smooth drill rod operations. Design/methodology/approach The attitude coordinate of the drilling robot is established according to its structure. A six-axis combined sensor is adopted to detect the platform attitude, thus revealing the three-axis Euler angles. The support rod displacement values are continuously detected by laser displacement sensors to obtain the displacement increment of each support rod as needed. The drilling robot is leveled according to the current support rod displacement and three-dimensional (3 D) attitude detected by the six-axis combined sensor dynamically. Findings Experimental results indicate that the DLAAD algorithm is correct and effectively levels the drilling platform dynamically. It can thus provide essential support in resolving drill rod sticking problems during actual underground coal mine drilling operations. Practical implications The DLAAD algorithm supports smooth drill rod operations in underground coal mines, which greatly enhances safety, reduces power consumption, and minimizes cost. The approach proposed here thus represents considerable benefits in terms of coal mine production and shows notable potential for application in similar fields. Originality/value The novel DLAAD algorithm and leveling control method are the key contributions of this work, they provide dynamical 3 D leveling and help to resolve drill rod sticking problems.

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“…Complex usage and limited measurement capacity also make it difficult to use them with limited time and cost. Some studies have suggested methods for measuring torque at relatively low cost [22][23][24]. Especially for medical purposes, various studies on disposable torque sensors that can be discarded are being actively pursued to avoid the risk of infection [25,26].…”

Section: Introductionmentioning

confidence: 99%

Development and Application of Motor-Equipped Reaction Torque Sensor with Adjustable Measurement Range and Sensitivity

Suh

Lee

2020

Applied Sciences

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Various high-performance force/torque sensors have been developed for the purpose of advancing automation systems. However, the demand for simple torque measurement of rotating shafts continues to exist, and expensive multi-axis sensors need not be wasted here. In this paper we propose a simple motor-equipped single-axis reaction torque sensor to measure the applied torque continuously using a load cell. The proposed sensor has long lever and base linkages, and the adjustable moment arm consequently enables adjusting measurement range and sensitivity by repositioning the assembled load cell on the two linkages. This paper shows the design of the proposed torque sensor, and it is evaluated by experiments for various applied torque and lever length. Moreover, the sensor is applied to an existing example: a commercial balanced-arm lamp with and without its balancing spring. The proposed torque sensor can continuously and successfully measure the applied torque, and it will be utilized in various industries and laboratories without much money.

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Robust and Inexpensive Six-Axis Force–Torque Sensors Using MEMS Barometers

Cited by 46 publications

References 12 publications

Robot-aided fN∙m torque sensing within an ultrawide dynamic range

Robot-aided fN∙m torque sensing within an ultrawide dynamic range

Four-point dynamic leveling method for drilling platform application

Development and Application of Motor-Equipped Reaction Torque Sensor with Adjustable Measurement Range and Sensitivity

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