Design and fabrication of a three-component force/moment sensor using plate-beams

Kim, Gab-Soon; Kang, Dae-Im; Rhee, Sehun; Um, Ki-Waon

doi:10.1088/0957-0233/10/4/005

Cited by 10 publications

(8 citation statements)

References 3 publications

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“…The interference error of the F x sensor is 1.98%, that of the F y sensor is below 2.21%, that of the F z sensor is below 1.25%, that of the M x sensor is below 3.22%, that of the M y sensor is below 3.93% and that of the M z sensor is below 0.68%. Thus the maximum interference error of the fabricated small 6-axis force/moment sensor is below 3.93%, and it is similar to or less than that of the multi-axis force/moment sensor [1][2][3][4][5][6][7][8][9][10][11][12][13][14]. But the advantage of the developed small 6-axis force/moment sensor is smaller than that of the multi-axis force/moment sensor [1][2][3][4][5][6][7][8][9][10][11][12][13][14].…”

Section: Results and Considerationmentioning

confidence: 99%

“…The sensing elements (PPBs) of each sensor in the small 6-axis force/moment sensor are designed to have low interference error. The design variables of each sensor are the rated capacity, the rated strain, the width, the length, the height of the plate beams, the distances from the central line to the end of the beam, and the location of strain gauges considering the size of the strain gauge [1][2][3][4][5][6][7]. The variables for designing the small 6-axis force/moment sensor are determined as follows:…”

Section: Design Of the Sensing Elements Of Each Sensormentioning

confidence: 99%

“…Kim [1,[3][4][5][6] designed and fabricated a 6-axis force/moment sensor of about 100 mm × 100 mm × 80 mm (diameter, height, width) in size to measure forces F x , F y and F z , and moments M x , M y and M z , simultaneously in industry. Kang [2] developed a 6-axis force/moment sensor of 100 mm × 200 mm × 60 mm in size.…”

Section: Introductionmentioning

confidence: 99%

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Development of a small 6-axis force/moment sensor for robot's fingers

Kim

2004

Meas. Sci. Technol.

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This paper describes the development of a small 6-axis force/moment sensor for robot's fingers (grippers), which detects forces Fx, Fy and Fz, and moments Mx, My and Mz, simultaneously. In order to safely grasp an unknown object using the robot's fingers, and accurately perceive its position in the fingers, it should measure the force in the gripping direction, the force in the gravity direction and moments in each direction, and perform the force control using the measured forces and moments. Also, it should detect moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the fingers. Thus, the robot's fingers should be composed of 6-axis force/moment sensors that can measure forces Fx, Fy and Fz, and moments Mx, My and Mz, simultaneously. It is very important for the 6-axis force/moment sensor for an intelligent robot's fingers to be of small size in its body and in its interference errors. Therefore, the new modelling of a small 6-axis force/moment sensor is needed. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy and Fz, and moments Mx, My and Mz simultaneously was newly modelled using several parallel-plate beams (PPBs), designed and fabricated. A characteristic test of the made sensor was performed, and the result shows that the interference errors of the developed sensor are less than 3.93%. Thus, the developed small 6-axis force/moment sensor can be used for robot's fingers.

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Section: Results and Considerationmentioning

confidence: 99%

Section: Design Of the Sensing Elements Of Each Sensormentioning

confidence: 99%

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Development of a small 6-axis force/moment sensor for robot's fingers

Kim

2004

Meas. Sci. Technol.

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“…Ma and Song [ 15 ], Kim G.S. et al [ 22 ], and Kim Y.G. et al [ 23 ] designed three- and six-component sensors using crossbeam geometry.…”

Section: Design Methodologymentioning

confidence: 99%

Design and Manufacturing of an Ultra-Low-Cost Custom Torque Sensor for Robotics

Ubeda

Gutiérrez

Stanisic

et al. 2018

Sensors

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This article describes a new, very low-cost torque sensor. It was designed to obtain a geometric shape suitable for very affordable manufacturing by machining. The torque sensor was developed under the principle of measurement by strain gauges. It has been designed in order to make manufacturing operations as simple as possible. Optimization was achieved through finite element analysis. Three test sensors for 1, 5, and 20 Nm were designed and machined. Calibration of the three sensors has been carried out obtaining excellent results. An analysis of the dimensional quality of the product and associated costs demonstrates that manufacturing is possible with very simple machining operations, standard tools, and economic equipment.

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“…Numerous multi-dimensional force sensors have been established in the previous decades, which are planned for use at the end effector and/or joints of a robot to observer force and/or moment. Gab-Soon Kim et al have designed and fabricated the structure of three axis Force/Torque sensors using plate-beams [2]. The sensor may be used for sensing the forces along x-axis, y-axis and torque about zaxis.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Force/Moment Sensor for a Robot

Tandel¹,

Patolia²,

Patel³

Kalpa Publications in Engineering

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To safely hold an unidentified object by means of an intelligent hand of robot, the hand has to recognize the weight of it. By attaching six-axis Force/Torque (F/T or Force/Moment) sensor to an intelligent robot's hand the weight can be calculated by measuring forces F x , F y and F z . Forces should be measured in order to precisely pull and push an object. To securely grasp an unidentified object with an intelligent robot's gripper, the forces in the gripping direction and in the gravitational direction needs to be detected, but it also requires to perceive the moments to accurately recognize the position of the object in the grippers. A robot joint can be controlled in better way if three forces and three moments exerted at the joint are measured. The available Force/Torque sensors are bulky, not customized and costly. Therefore, it is essential to customize and develop low cost six axis Force/Torque sensor with new appropriate dimensions for an intelligent robot's joints. Six axis Force/Torque sensor is designed using strain gauge. The strain gauges are selected for Aluminium and its working conditions. The sensor design is based on results of parametric analysis done in ANSYS software to obtain the strain values in the measurable range. The analytical results are compared with Finite Element Analysis (ANSYS) results. The percentage error in deviation is 0.75% maximum.

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Design and fabrication of a three-component force/moment sensor using plate-beams

Cited by 10 publications

References 3 publications

Development of a small 6-axis force/moment sensor for robot's fingers

Development of a small 6-axis force/moment sensor for robot's fingers

Design and Manufacturing of an Ultra-Low-Cost Custom Torque Sensor for Robotics

Design and Analysis of Force/Moment Sensor for a Robot

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