Maximum Structural Error Propagation of Multi-Axis Force Sensors.

Kang, Chul-Goo

doi:10.1299/jsmec.44.676

Cited by 9 publications

(7 citation statements)

References 6 publications

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“…However, two primary error sources exist: the design limitation of the sensor structure and noise signals present in the sensed information [13]. Basic sensor error information can be eliminated to an extent by using a suitable mechanical design and decoupling algorithm, as described in the literature [1,5,13,14].…”

Section: Introductionmentioning

confidence: 99%

Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

Kebede

Ahmad

Lee

et al. 2019

Sensors

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In this study, a novel strain gauge arrangement and error reduction techniques were proposed to minimize crosstalk reading and simultaneously increase sensitivity on a decoupled six-axis force–moment (F/M) sensor. The calibration process that comprises the least squares method and error reduction techniques was implemented to obtain a robust decoupling matrix. A decoupling matrix is very crucial for minimizing error and crosstalk. A novel strain gauge arrangement that comprised double parallel strain gauges in the decoupled six-axis force–moment sensor was implemented to obtain high sensitivity. The experimental results revealed that the maximum calibration error, F/M sensor measurement error, and crosstalk readings were reduced to 3.91%, 1.78%, and 4.78%, respectively.

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Section: Introductionmentioning

confidence: 99%

Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

Kebede

Ahmad

Lee

et al. 2019

Sensors

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“…In other to automate dexterous and accurate tasks using robotic manipulator, we need to feedback not only the position but also force/torque information. [1] The multi-axis force/torque sensors can measure the magnitude of multi-axis forces and torques simultaneously and they works based on the principle of elastic deformation. It is very hard to decouple all multi-axis output signals in the sensors.…”

Section: Introductionmentioning

confidence: 99%

A Crosstalk Compensation of a Multi-axis ForceTorque Sensor Based on the Least Squares Method Using LabVIEW

Hong

Jeong

2012

2012 Fourth International Conference on Computational and Information Sciences

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We present a technique for a crosstalk compensation of a multi-axis force and torque sensor. Multi-axis sensor generates coupled output signals inevitably because of the coupled structure or manufacturing errors. In order to minimize crosstalk in output signals, a compensation matrix which decouples the output signals is required. In this paper, the compensation matrix based on the least squares method will be derived. The LabVIEW is used in the experiment because the flexibility of LabVIEW makes the creation of userfriendly data acquisition (DAQ) programs and compensation algorithm. Finally, we will compare the performances of the multi-axis force/torque sensor before and after using compensation matrix in order to confirm the effect of this method.

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“…Because of this, the design idea refers to the classical Maltese crossbar. [29][30][31][32][33] The cross-beam structure may be the earliest and most widely used elastic structure for MFSs because of self-decoupling mechanically and effectively. As a practical choice for a WFT, it not only meets the requirements of driving stability with spokes but also provides good vehicle support with fewer modifications than those of other configurations such as the cylinder shape, 25,28 the E-membrane 27 and the Stewart platforms.…”

Section: Proposed Structure Of the Force-sensing Elementmentioning

confidence: 99%

“…where the notation d represents the disturbed error of the true value for each item S, C and F respectively. Taking the norms of equation (12) with matrix perturbation analysis, 22,33 it can be estimated by the inequality…”

Section: Performance Criteria For the Optimal Designmentioning

confidence: 99%

“…Generally, to detect the multi-axis wheel forces dynamically, the WFT consists of a multi-axis force sensor (MFS), [22][23][24][25][26][27][28][29][30][31][32][33][34][35] in which an elastic body (or forcesensing element) will deform under the applied forces. Measurement of the elastic deformations by appropriate transducers yields electrical signals from which the force components can be derived.…”

Section: Introductionmentioning

confidence: 99%

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Design and optimization of a self-decoupled six-axis wheel force transducer for a heavy truck

Feng

Lin

Zhang

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part D:

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A wheel force transducer is a vital instrument in the vehicle-testing field which provides a means for determining experimentally the forces and the moments transmitted to a vehicle through the tyre contact patch. However, existing wheel force transducers are almost commercial products. They are expensive and, for business reasons, technical information is not made public. This slows down the development of the wheel force transducer itself to a certain extent. Moreover, research studies on the wheel force transducer mainly focus on utilization of this tool for vehicle simulations, traction control and anti-lock braking evaluation as it provides information on the characteristics, the performance and the limitations of the vehicle. From the perspective of the sensor itself, although improvement in the transducer accuracy and information extraction using signal-processing methods have been successfully developed in the literature, few investigations on the design of the wheel force transducer have been reported yet. Accordingly, a general design and optimization procedure for the wheel force transducer with a practical case study will be of great significance. Since technical difficulties, admittedly, are primarily about the issues of how to design and optimize the transducer, in this paper a new selfdecoupled six-axis wheel force transducer for a heavy truck is designed and fabricated. An easy-to-understand design procedure is highlighted mainly including the conceptual design with the aims of a universal-purpose self-decoupled transducer with an eight-spoke structure, an optimization design which depends on the proposed comprehensive performance criteria in the computer-aided procedure, and a collectivity design focus on the mechatronics assembly for a heavy-truck application. Finally, the wheel force transducer is manufactured, calibrated and tested. The results show that the mean errors of the six-axis forces are about 3% of the full scale with 1% non-linearity, 0.5% repeatability and 1% hysteresis for the sensor only, that there are increased mean values of about 2% non-linearity, 1% repeatability and 1.4% for a certain tyre assembly and that the observed dynamic response is about 2.5-3.5 ms. Both the self-decoupled characteristics and the sensor performance are verified to meet the design and optimization, and the transducer with a real-time wheel force output is also confirmed by road tests.

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Maximum Structural Error Propagation of Multi-Axis Force Sensors.

Cited by 9 publications

References 6 publications

Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

A Crosstalk Compensation of a Multi-axis ForceTorque Sensor Based on the Least Squares Method Using LabVIEW

Design and optimization of a self-decoupled six-axis wheel force transducer for a heavy truck

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