Six-Axis Column-Type Force and Moment Sensor for Robotic Applications

被引：27

作者：

Payo, Ismael ^{[1
]}

Miguel Adanez, Jose ^{[1
]}

Rodriguez Rosa, David ^{[1
]}

Fernandez, Raul ^{[1
]}

Vazquez, Andres S. ^{[1
]}

机构：

[1] Univ Castilla La Mancha, Dept Elect Elect Control Engn & Commun, Toledo 45071, Spain

来源：

IEEE SENSORS JOURNAL | 2018年 / 18卷 / 17期

关键词：

Force sensor; resistive strain gauge; bending moment; torsional moment; FORCE/TORQUE SENSOR; FORCE/MOMENT SENSOR; DESIGN; OPTIMIZATION;

D O I：

10.1109/JSEN.2018.2853561

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

A flexible cylindrical beam is used to design a six-axis column-type force and moment sensor for robotic applications, where accurate small force and moment measurements are required. One of the ends of the beam is fixed, and the other remains free. A rigid cover with a mushroom shape is placed at the free end. This cover is the contact surface between the sensor and the object being touched, and it transmits the contact forces and moments to the flexible beam. The 12 miniature strain gauges are strategically placed on the surface of the beam to measure the contact forces and moments by using a simple model based on the classical theory of elasticity. The calibration method of the sensor is performed by using the least-square fitting method, and the experimental results demonstrate that maximum and mean relative errors are below 9% and 3%, respectively, of fullscale in all measured variables.

引用

页码：6996 / 7004

页数：9

共 26 条

[1] Abe K, 2003, IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P1056
[2] Pressure Sensor: State of the Art, Design, and Application for Robotic Hand
Almassri, Ahmed M.
Hasan, W. Z. Wan
Ahmad, S. A.
Ishak, A. J.
Ghazali, A. M.
Talib, D. N.
Wada, Chikamune
[J]. JOURNAL OF SENSORS, 2015, 2015
[3] Aqilah A., 2012, 2012 IEEE 8th International Colloquium on Signal Processing & its Applications, P223, DOI 10.1109/CSPA.2012.6194722
[4] Beyeler F., 2009, 2009 IEEE International Conference on Robotics and Automation (ICRA), P520, DOI 10.1109/ROBOT.2009.5152253
[5] Bicchi A., 1992, Robotics and Autonomous Systems, V10, P269, DOI 10.1016/0921-8890(92)90005-J
[6] AUGMENTATION OF GRASP ROBUSTNESS USING INTRINSIC TACTILE SENSING
BICCHI, A
SALISBURY, JK
DARIO, P
[J]. PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 302 - 307
[7] Micro-Vibration-Based Slip Detection in Tactile Force Sensors
Fernandez, Raul
Payo, Ismael
Vazquez, Andres S.
Becedas, Jonathan
[J]. SENSORS, 2014, 14 (01) : 709 - 730
[8] Gere J.M., 2004, Mechanics of Materials, V6th
[9] Hoffmann K., 2001, APPL WHEATSTONE BRID
[10] Shape optimization of a mechanically decoupled six-axis force/torque sensor
Kang, Min-Kyung
Lee, Soobum
Kim, Jung-Hoon
[J]. SENSORS AND ACTUATORS A-PHYSICAL, 2014, 209 : 41 - 51

← 1 2 3 →