Modular design and development methodology for robotic multi-axis F/M sensors

Abstract

Accurate Force/Moment (F/M) measurements are required in many applications, and multi-axis F/M sensors have been utilized a wide variety of robotic systems since 1970s. A multi-axis F/M sensor is capable of measuring multiple components of force terms along x-, y-, z-axis (Fx, Fy, Fz), and the moments terms about x-, y- and z-axis (Mx, My and Mz) simultaneously. In this manuscript, we describe experimental and theoretical approaches for using modular Elastic Elements (EE) to efficiently achieve multi-axis, high-performance F/M sensors. Specifically, the proposed approach employs combinations of simple modular elements (e.g. lamella and diaphragm) in monolithic constructions to develop various multi-axis F/M sensors. Models of multi-axis F/M sensors are established, and the experimental results indicate that the new approach could be widely used for development of multi-axis F/M sensors for many other different applications.

The Narrative Art of Flying Hair

“…The former glory and achievements did not escape the giant wheel of The Times; they "disappeared from the urban map and became a gentle era of a certain class." [2] became a sigh. When Chong Kam Ming moved from Shanghai to Hong Kong, he did not look up to Hong Kong, feeling that it was lame and that Shanghai was not as prosperous as it was in the past, but it was still more than adequate compared to Hong Kong today.…”

“…However, when Zhai saw "my" hairstyle, he said "sit low", turning Zhai Kangran's proud flying green into a clear line, no halo retreat, and said "The whole is not refreshing; good to lose the rack." [2] And when "I" went to find Zhai Kangran after more than half a month, he could see at a glance that his polished gradient Feiqing was modified. "You see, he never let go.…”

“…Everyone else is wrong, but his own old-fashioned ways are right." [2] There are quite contradictions between the two people, not only the conflict of character, but through Zhai Fu and Zhai Kangran's insistence on hair cutting, it is the collision between the pursuit of pragmatism in Hong Kong and the pursuit of fashion in Shanghai. When the character acts as the narrator, this kind of focused narration not only allows the narrator to participate in the time process but also captures the changes in the expression of the characters present and the changes in the emotional atmosphere in the story for the first time and brings thinking and blankness to the reader without too much verbal description.…”

“…Answer: The king's head brushes a single knife, and the four directions of the heroes are bowed down." [2] This is answered by saying that the state of the person being cut symbolizes the haircut. In the Wedges, readers are introduced to the revolution of 1911, which ended the feudal monarchy, and the liberation of the people is no longer bound by tying hair and braids, and haircuts have become necessary and trendy.…”

Application of an adapted FMEA framework for robot-inclusivity of built environments

“…Like any other machinery under normal circumstances, human accidents or injuries can happen due to factors such as the failure of a robot’s components 14 , unpredictable movements 15 by both robots and humans, as well as the crossing of workspace boundaries 16 between the two. In most cases, the problem is mitigated through enhancing the robot’s hardware and software, exploring deployments of advanced controlling methods 17 , 18 , complex hardware designs 19 , robust sensors integration 20 , 21 , reconfigurable mechanisms 22 , and artificial intelligence frameworks 23 . Under HRI, other methods of ensuring safety of robots to humans include safety-rated monitored stop, hand-guiding, speed and separation monitoring, power and force limiting 24 – 26 .…”