D6.1 - Robust force and torque measurements by integrated sensors in hollow shafts

Krech, Martin; Groche, Peter

doi:10.5162/sensor2017/d6.1

Cited by 4 publications

(3 citation statements)

References 3 publications

(7 reference statements)

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“…However, these investigations have underscored the challenge of integrating axial-force-and torque-measuring strain-gauge-based sensors. Achieving specific pre-load conditions for axial force measurement results in a reduced measuring range for torque measurement and vice versa, as discussed in [13]. This challenge is attributed to the required pre-load conditions for electromechanical sensors, such as strain-gauge-based and piezo-based sensors, as shown in [4].…”

Section: Introductionmentioning

confidence: 99%

High-Precision Integration of Optical Sensors into Metallic Tubes Using Rotary Swaging: Process Phenomena in Joint Formation

Al-Baradoni,

Heck,

Groche

2024

JMMP

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A novel process design for the damage-free and highly accurate positional integration of an optical multi-axial force sensor into a hollow tube by means of rotary swaging is introduced. Numerical simulations reveal the relevant process phenomena of thin disc joining inside a pre-toothed hollow tube and help us to find an optimal process design. Experimental trials show the significant effect of the axial material flow and the number of tools on the rotary swaging process. By taking these effects into account, successful form- and force-fit joining of the sensor carrying discs into the tube can be achieved. Successful joining of an optical sensor for bending force and torque measurement shows hysteresis-free sensory behavior and thus backlash-free joining of the sensor carrier discs. The paper concludes with a presentation of the results of a numerical study on a potential closed-loop approach to the joining process.

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Section: Introductionmentioning

confidence: 99%

High-Precision Integration of Optical Sensors into Metallic Tubes Using Rotary Swaging: Process Phenomena in Joint Formation

Al-Baradoni,

Heck,

Groche

2024

JMMP

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“…Achieving a specific multi-axis pre-tension of the integrated sensor inside the structure is challenging. Krech reports a conflict in generating axial and tangential pretension when integrating torque and bending force transducers [11].…”

Section: Introductionmentioning

confidence: 99%

High-Precision Integration of Optical Sensors into Metallic Tubes Using Rotary Swaging: Process Phenomena in the Joint Formation

Al-Baradoni,

Heck,

Groche

2024

Preprint

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A novel process design for damage-free and highly accurate positional integration of an optical multi-axial force sensor into a hollow tube by means of rotary swaging is introduced. Numerical simulations reveal relevant process phenomena of thin disc joining inside a pre-toothed hollow tube and help to find an optimal process design. Experimental trials show a significant effect of axial material flow and the number of tools in a rotary swaging process. By taking these effects into account, a successful form- and force-fit joining of the sensor carrying discs into the tube can be achieved. A successful joining of an optical sensor for bending forces and torque measurement shows hysteresis-free sensory behavior and thus backlash-free joining of the sensor carrier discs. The paper finishes with presenting an approach for closed-loop position controlling during the joining process and numerically investigation of the process design.

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“…According to Lee et.al, a tendency appears in the field of robotics to avoid the use of multi axial force/torque sensors, if their absence does not lead to a serious degradation of performance [8]. Considering the increasing research on multifunctional sensory structures, e.g., sensor-integrated metallic load-bearing structures such as in [9,10], the high cost and space requirements for the whole measuring chain seems to hinder the research in the integration of multi-axis force/torque sensors into such structures.…”

Section: Introductionmentioning

confidence: 99%

Sensor Integrated Load-Bearing Structures: Measuring Axis Extension with DIC-Based Transducers

Groche

2021

Sensors

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In this paper we present a novel, cost-effective camera-based multi-axis force/torque sensor concept for integration into metallic load-bearing structures. A two-part pattern consisting of a directly incident and mirrored light beam is projected onto the imaging sensor surface. This allows the capturing of 3D displacements, occurring due to structure deformation under load in a single image. The displacement of defined features in size and position can be accurately analyzed and determined through digital image correlation (DIC). Validation on a prototype shows good accuracy of the measurement and a unique identification of all in- and out-of-plane displacement components under multiaxial load. Measurements show a maximum deviation related to the maximum measured values between 2.5% and 4.8% for uniaxial loads ( and between 2.5% and 10.43% for combined bending, torsion and axial load. In the course of the investigations, the measurement inaccuracy was partly attributed to the joint used between the sensor parts and the structure as well as to eccentric load.

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D6.1 - Robust force and torque measurements by integrated sensors in hollow shafts

Cited by 4 publications

References 3 publications

High-Precision Integration of Optical Sensors into Metallic Tubes Using Rotary Swaging: Process Phenomena in Joint Formation

High-Precision Integration of Optical Sensors into Metallic Tubes Using Rotary Swaging: Process Phenomena in Joint Formation

High-Precision Integration of Optical Sensors into Metallic Tubes Using Rotary Swaging: Process Phenomena in the Joint Formation

Sensor Integrated Load-Bearing Structures: Measuring Axis Extension with DIC-Based Transducers

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