Performance analysis of over-constrained orthogonal parallel six-axis force sensor

Zhi, Niu; Zhao, Yanzhi; Zhang, Hao; Zhou, Jingbo; Du, Renjie

doi:10.1016/j.measurement.2022.111863

Cited by 4 publications

(5 citation statements)

References 31 publications

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“…O is the center of the circular through-hole on the upper surface. 1 O is the center of a circular notch. The distance from the center of the circle O to the outer circle of the circular notch is r .…”

Section: Stiffness Modeling Of the Novel Circular Flexible Spherical ...mentioning

confidence: 99%

“…Artificial intelligence and robotics are important carriers of automated technologies, and six-dimensional force sensors, which are important force-sensing components, provide important tactile information for robots. According to the sensor measurement principle, six-dimensional force sensors can be divided into capacitive, piezoelectric, photoelectric and strain gauge types [ 1 , 2 , 3 , 4 , 5 ]. Strain gauge-type six-dimensional force sensors can be divided into integrated six-dimensional force sensors and parallel six-dimensional force sensors according to their elastomeric structure.…”

Section: Introductionmentioning

confidence: 99%

“…Configuration of the novel circular flexible spherical joint.In Figure1, the circular through hole in the middle is the connecting part, which can be connected to the circular flexible spherical joint with bolts. O is the center of the circular through-hole on the upper surface 1. O is the center of a circular notch.…”

mentioning

confidence: 99%

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Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints

Wang,

Zhang,

2023

Sensors

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This paper proposed a circular flexible spherical joint to reduce the processing difficulty and manufacturing cost, and design a six-dimensional force sensor based on it. This paper analyzes the influence of the structural parameters of the flexible spherical joints on the accuracy of the six-dimensional force sensor by comparing the force mapping matrix of flexible spherical and ideal spherical joints. As the force mapping matrix is related to the stiffness matrix, the stiffness matrix of a six-dimensional force sensor based on a circular flexible spherical joint and the force mapping matrix of the generalized external force acting on the sensor was derived. Finally, a set of optimal parameters was selected to create a prototype and was verified through finite elements and experiments. The results show that the six-dimensional force sensor with a circular flexible spherical joint has good accuracy and provides some guidance for the design and analysis of the sensor.

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Section: Stiffness Modeling Of the Novel Circular Flexible Spherical ...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints

Wang,

Zhang,

2023

Sensors

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“…This paper mainly studies the working principle of the measuring equipment and the static characteristics of the six-dimensional force sensor by the method of indoor hanging and static calibration test [28,29]. The research results provide a technical basis for testing equipment systems and agricultural machinery intelligent equipment, greatly improve the independent innovation ability of agricultural equipment research and development in China, and have great significance in accelerating the development of intelligent agricultural machinery equipment technology, narrowing the gap with foreign mainstream products and promoting the development of modern agriculture [30,31].…”

Section: Introductionmentioning

confidence: 97%

Study on Agricultural Machinery-Load-Testing Technology and Equipment Based on Six-Dimensional Force Sensor

Chen,

Cao,

Yuan

et al. 2023

Agriculture

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Tractor traction power consumption is one of the main causes of energy consumption in agricultural production. Scientific and accurate control of tractor traction power consumption can obviously save energy and reduce consumption. In view of the backward load-testing technology and low measurement accuracy in field work, this study designed an array test equipment, which formed a measurement matrix based on a six-dimensional force sensor to accurately measure tractor hauled load, which could provide a reference signal for intelligent operation. In this paper, the static calibration test was carried out on the six-dimension force sensor, and the linearity, sensitivity, and zero drift were analyzed. The static characteristics of the test unit meet the measurement requirements. A static decoupling model was established. The decoupling errors of each channel were stable at 0.02%FS, 0.02%FS, 0.8%FS, 0.36%FS, 0.018%FS, and 0.06%FS, respectively. Finally, the whole hanging test of the measuring equipment was carried out—the error was 1.24%, −1.2% respectively—to verify the accuracy of the measurement of the sensor device under different working conditions.

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“…At present, six-dimensional force sensors can be divided into capacitive type, piezoelectric type, photoelectric type and strain gauge type according to different measuring principles. Among the many forms of six-dimensional force transducers, strain gauge six-dimensional force sensors are widely used at this stage due to their long development history [9][10][11]. Strain gauge type six-dimensional force sensor is mainly divided into integrated and parallel type, parallel six-dimensional force sensor adopts spherical joint connection mode, the force measuring branch can be regarded as only bear the axial force of the two-force rod, in theory can achieve complete decoupling, at the same time, parallel six-dimensional force sensor also has the advantages of large relative stiffness, high bearing capacity, no cumulative error, etc, has become a very successful six-dimensional force sensor structure implementation form [9,12,13].…”

Section: Introductionmentioning

confidence: 99%

Stiffness analysis and parameter optimization of six-dimensional force sensor with the novel circular flexible spherical joint

Wang,

Zhang,

2023

Meas. Sci. Technol.

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As robot haptic provider, six-dimensional force sensors are an indispensable component of industrial intelligence. To address the disadvantages of the existing six-dimensional force sensor, a novel circular flexible spherical joint is proposed, its stiffness model is derived by numerical analysis method and microelement, and the stiffness model of the circular flexible spherical joint is verified by finite element simulation. A parallel six-dimensional force sensor is designed based on a circular flexible spherical joint, and a mathematical model of the sensor was established. Based on the genetic algorithm, the structural optimization design of the circular flexible spherical joint was performed, and the structural parameters of the circular flexible spherical joints are obtained by analyzing isotropy. Finally, according to the optimization results, a sensor was developed and calibration experiments were carried out. The experimental results show that the maximum error of the sensor is 1.85%, which verifies the effectiveness of the mathematical model of the sensor, which has high measurement accuracy and can accurately measure the six-dimensional external force and moment applied to the sensor.

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Performance analysis of over-constrained orthogonal parallel six-axis force sensor

Cited by 4 publications

References 31 publications

Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints

Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints

Study on Agricultural Machinery-Load-Testing Technology and Equipment Based on Six-Dimensional Force Sensor

Stiffness analysis and parameter optimization of six-dimensional force sensor with the novel circular flexible spherical joint

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