Design and analysis of a novel isotropic six-component force/torque sensor

Jin, Zhenlin; Gao, Feng; Zhang, Xiao-Hui

doi:10.1016/s0924-4247(03)00299-1

Cited by 61 publications

(12 citation statements)

References 3 publications

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“…The Stewart platform structure was usually adopted especially. T.A.Dwarakanath [12], Jin Zhenlin [13], Zhen-yuan Jia [14] devised force-torque sensors based on this structure, respectively. Zhijun Wang [15] designed a novel fully pre-stressed six-axis force/torque sensor with double layers of Stewart platform structure.…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of a novel six-axis force/torque sensor for space robot

et al. 2015

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Section: Introductionmentioning

confidence: 99%

Design and optimization of a novel six-axis force/torque sensor for space robot

et al. 2015

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“…Similar to in-plane type, if the matrix of out-of-plane type stiffness is synthesized by three line vectors,ŝ O,i , the orthocenter of the triangle formed by the three line vectors of the reciprocal Jacobian always coincides the origin. This proposition about out-of-plane type stiffness can be proved using the compliance matrix C (3) O . The simplified out-of-plane compliance matrix C (3) O with rank three can be expressed as:…”

Section: Design Of 6-axis F/t Sensor With Identical Stiffness Inmentioning

confidence: 88%

“…This proposition about out-of-plane type stiffness can be proved using the compliance matrix C (3) O . The simplified out-of-plane compliance matrix C (3) O with rank three can be expressed as:…”

Section: Design Of 6-axis F/t Sensor With Identical Stiffness Inmentioning

confidence: 88%

“…Wu and Cai [2] proposed two separate cross-shaped sliding structures, one involving the forces in the x-and y-directions and the moment about the z-axis, and the other moments about the x-and y-axis and the force in the z-direction. Zhenlin et al [3] presented a method to design the 6-axis F/T sensor that is characterized by the stiffness isotropy in which two legs of the Stewart platform are arranged parallel to each axis. Lu et al [4] introduced a design using three RPPS compliant structures and analyzed the corresponding stiffnesses.…”

Section: Applied a Design Optimizationmentioning

confidence: 99%

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A Novel Geometric Design Method of Elastic Structure for 6-Axis Force/Torque Sensor

et al. 2019

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We present a novel design method of a 6-axis Force/Torque (F/T) sensor with identical stiffness in all directions. In contrast to common F/T sensor designs, the proposed method is an analytical approach to the realization of a desired diagonal stiffness matrix which implies the complete decoupling of the stiffnesses in all directions. The first step of the design is to group the column vectors of a given rank 6 diagonal stiffness matrix into in-plane type and out-of-plane type stiffnesses. Each type of stiffnesses is then synthesized by means of three line vectors and designed as the corresponding serial-chain for a limb of an F/T sensor using only circular hinges. The F/T sensor can be formed by connecting the designed two serial-chains in series. However, for a practical design with minimum structural error and better strength, each of two type stiffnesses is further divided into a set of n separate serial-chains. Finally, the n-sets of serial-chains each consisting of six circular hinges that correspond in-plane and out-of-plane type stiffnesses are connected to the moving platform in parallel to complete the design. The FEM analysis and experiments are conducted to verify the proposed design method.

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“…Z.L. Jin et al [10] designed a force/torque sensor using a parallel architecture based on the Stewart platform as well.…”

Section: Introductionmentioning

confidence: 99%

Flexible building blocks: Modularized design concept of a six-axis force/torque sensor

Wang

Fang

et al. 2011

2011 IEEE International Conference on Mechatronics and Automation

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Six-axis force/torque sensors have lots of application in robotics and automation areas. A novel modularized design concept to formulate six-axis force/torque sensors is introduced in this paper, which provide a flexible and low-cost solution to measure multi-dimensional force/torque signal using a modularized assembly of several off-the-shelf 1-D force sensors. Matrix-based force measuring model are derived to compute the six-axis force/torque signal from the output signal of nine 1-D force sensors. Detailed structural design is explained and preliminary calibration method is introduced to compensate the assembly error. The preliminary experiment results illustrate the feasibility of this modularized design concept. The output signal of the six-axis force/torque signal is consistent with the reference signal measured by an ATI Nano-17 force/torque sensor. One major advantage of this design concept is its flexibility, i.e. we can easily adapt the mechanical structure to design multi-dimensional force/torque sensors ranging from 2-DOFs to 6-DoFs (Degree-of Freedoms).Index Terms -Six-axis force/torque sensor, modularized assembly, measurement principle, mechanical structure

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Design and analysis of a novel isotropic six-component force/torque sensor

Cited by 61 publications

References 3 publications

Design and optimization of a novel six-axis force/torque sensor for space robot

Design and optimization of a novel six-axis force/torque sensor for space robot

A Novel Geometric Design Method of Elastic Structure for 6-Axis Force/Torque Sensor

Flexible building blocks: Modularized design concept of a six-axis force/torque sensor

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