Optimum design method of multi-axis force sensor integrated in humanoid robot foot system

Luo, Jianfei; Shen, Fei; Ren, Yang; Zhang, Wu

doi:10.1016/j.measurement.2011.06.013

Cited by 36 publications

(12 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, the final tail of the graph for the numerical results is shown to indicate non-linear strains, whereas the graph for the Timoshenko equation results shows only a straight line. These results agree with those of studies that have compared Timoshenko results with numerical results [22,27].…”

Section: Comparison Of Numerical Solution With Analytical Solutionsupporting

confidence: 91%

“…In another study, the performance and structural design of a prestressed six-axis F/M sensor with double layers were validated by considering the optimization objective to obtain optimal structural parameters [21]. To optimize the design of a multi-axis force sensor (MFS) integrated in a humanoid robot foot structure, a study analyzed the design criteria and strain gauge sensitivity as the objective function for MFS numerical optimization [22]. However, developing an F/M sensor with high performance requires appropriate design criteria for the sensor's body structure and a numerical optimization process to evaluate the sensor's sensing accuracy in terms of cross coupling and measurement error.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Lin

Ahmad

Kebede

2020

Sensors

View full text Add to dashboard Cite

In this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by minimized structural interconnection. The forces Fx, Fy, and Fz and moments Mx, My, and Mz can be measured for the six-axis F/M sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum cross-talk errors along the following six axes under different loadings (the errors are presented in parentheses): Fx under SMy (2.12%), Fy under SMx (1.88%), Fz under SMz (2.02%), Mx under SFz (1.15%), My under SFx (1.80%), and Mz under SFx (2.63%). The proposed sensor demonstrated a considerably improved cross-talk error performance compared with existing force sensors.

show abstract

Section: Comparison Of Numerical Solution With Analytical Solutionsupporting

confidence: 91%

Section: Introductionmentioning

confidence: 99%

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Lin

Ahmad

Kebede

2020

Sensors

View full text Add to dashboard Cite

show abstract

“…Many kinds of six-axis force/torque sensors were developed depend on strain gauges with different structures. Lu-Ping Chao [4], Baoyuan Wu [5] designed six-axis force sensors based on cross beam. Sheng A. Liu and Hung L. Tzo [6] presented a six-component force sensor in the form of four identical T-shaped bars.…”

Section: Introductionmentioning

confidence: 99%

“…However, Lu-Ping Chao [4] and Sheng A. Liu [6] adopted relatively simple objective optimization functions (minimizing weight of the sensor), which make it difficult to obtain precise strain values on given points. Baoyuan Wu [5] suggested a synthetic optimum design method depended on compliance matrix, finite element method, orthogonal design and range analysis, and developed a six-axis force sensor integrated in humanoid robot foot system. He considered the measurement sensitivity, but ignored stiffness of the sensor which is a very important index.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2015

View full text Add to dashboard Cite

“…In general use, these MFS are small and their structure analysis is always under approximate static state, which means the inertia/mass of the sensor itself exerts little influence on sensor response or the signal processing is fully able to cope with it. Reports have shown that a great number of these MFS have quite good performance in many applications including the wrist sensors in robot arms (Kim et al, 2003;Wu et al, 2011b;Ma et al, 2013).…”

Section: Introductionmentioning

confidence: 99%