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

被引：11
作者：
Shu, Ran [1 ,2 ]
Chu, Zhigang [1 ,2 ]
Shu, Hongyu [1 ,2 ]
机构：
[1] Chongqing Univ, State Key Lab Mech Transmiss, Chongqing 400044, Peoples R China
[2] Chongqing Univ, Coll Automot Engn, Chongqing 400044, Peoples R China
来源：
SENSORS | 2020年 / 20卷 / 02期
基金：
中国国家自然科学基金;
关键词：
torque sensor; disk F-shaped; strain exposure; lever-type; FORCE/TORQUE SENSOR; FORCE; OPTIMIZATION; ROBOTS;
D O I：
10.3390/s20020541
中图分类号：
O65 [分析化学];
学科分类号：
070302 ; 081704 ;
摘要：
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.
引用
收藏
页数：15
相关论文
共 32 条
  • [1] Design of a hollow hexaform torque sensor for robot joints
    Aghili, F
    Buehler, M
    Hollerbach, JM
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2001, 20 (12) : 967 - 976
  • [2] Sensing the torque in a robot's joints
    Aghili, F
    Buehler, M
    Hollerbach, JM
    [J]. MECHANICAL ENGINEERING, 1998, 120 (09) : 66 - 69
  • [3] Aghili F, 1997, IEEE INT CONF ROBOT, P1156, DOI 10.1109/ROBOT.1997.614294
  • [4] Shape optimal design and force sensitivity evaluation of six-axis force sensors
    Chao, LP
    Chen, KT
    [J]. SENSORS AND ACTUATORS A-PHYSICAL, 1997, 63 (02) : 105 - 112
  • [5] TORQUE SENSOR FOR DIRECT-DRIVE MANIPULATORS
    DESILVA, CW
    PRICE, TE
    KANADE, T
    [J]. JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME, 1987, 109 (02): : 122 - 127
  • [6] Finio BM, 2011, IEEE INT C INT ROBOT, P31, DOI 10.1109/IROS.2011.6048066
  • [7] Development of the Chinese Intelligent Space Robotic System
    Gao, X. H.
    Jin, M. H.
    Xie, Z. W.
    Jiang, L.
    Ni, F. L.
    Shi, Sh. C.
    Wei, R.
    Zhu, Y. Y.
    Cai, H. G.
    Liu, H.
    Beyer, A.
    Kraemer, E.
    Landzettel, K.
    Schott, J.
    Hirzinger, G.
    [J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 994 - 1001
  • [8] Gere J. M., 2012, Cengage learning
  • [9] Decoupling Analysis of a Six-Dimensional Force Sensor Bridge Fault
    Hu, Guangyu
    Gao, Qing
    Cao, Huibin
    Pan, Hongqing
    Shuang, Feng
    [J]. IEEE ACCESS, 2018, 6 : 7029 - 7036
  • [10] A Three-Dimensional Finite Element Analysis Model for SH-SAW Torque Sensors
    Jiang, Chao
    Chen, Yanqin
    Cho, Chongdu
    [J]. SENSORS, 2019, 19 (19)
1234