Research on a novel parallel spoke piezoelectric 6-DOF heavy force/torque sensor

Li, Yingjun; Wang, Guicong; Zhao, Dong; Sun, Xuan; Fang, Qinghua

doi:10.1016/j.ymssp.2012.03.016

Cited by 33 publications

(7 citation statements)

References 24 publications

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“…N [19] designed a 6-axis optical force sensor which can be used in fMRI. Ying-jun Li [20][21] fabricated a six-axis load cell based on piezoelectric effect to realize harmonious control and multi-degree-of-freedom of huge heavy-load manipulator.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2015

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Section: Introductionmentioning

confidence: 99%

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

et al. 2015

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“…As the direction of maximum sensitivity is that of the maximum flexibility of the sensor, the sensitivity of the sensor reacts on the compliance matrix, C, which is also expressed in the form of [C F C M ]. Based on the ellipsoid volume method (Li et al, 2013;Jia et al, 2010), to avoid the problems described in the introduction, the square root of the square of a singular value is used to represent the sensitivity of the sensor. Therefore, the force sensitivity of the sensor, S F , and the torque sensitivity of the sensor, S M , are expressed as:…”

Section: Sensitivity and Sensitivity Isotropymentioning

confidence: 99%

“…Performance atlases can vividly show the relationship between the structural parameters and performance indices of the sensor. Many scholars (Hou et al, 2009;Li et al, 2013;Chen et al, 2007) have conducted related research, such as sensor structure design and parameter analyses, which is beneficial to our design.…”

Section: Introductionmentioning

confidence: 99%

Sensitivity and sensitivity isotropy of an 8/4–4 parallel six-axis force sensor

Weishan

Song

2020

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Purpose Six-axis force sensors play an important role in civilian and military fields because of their multifunctionality. In the context of sensor structure design, sensitivity and sensitivity isotropy are often considered. This paper aims to study the possible relationship between the sensitivity/sensitivity isotropy and structural parameters of an 8/4–4 parallel six-axis force sensor. A comprehensive evaluation index and structural optimization design scheme are suggested in the end. Design/methodology/approach Based on the conditional number of the Jacobian matrix spectral norm, the sensitivity and sensitivity isotropy of the sensor are derived. Orthogonal experiments are used to determine the degree of primary and secondary factors that have a substantial effect on the sensor characteristics. The relationship between the performance indices and the structural parameters is analyzed by the performance atlas method. The comprehensive evaluation index lays the foundation for the structural optimization design of an 8/4–4 parallel six-axis force sensor. Findings The variation in each performance index of the sensor for each of the structural parameters is analyzed, and the structural parameters of the sensor with the desired performance indices can be easily selected from the performance atlases. A comprehensive performance evaluation index with a target value of 1 is proposed, and the overall influence of the structural parameters on the sensor performance index is investigated. A simulation example shows the feasibility of the proposed evaluation index. Originality/value The importance of each structural parameter of the 8/4–4 parallel six-axis force sensor is determined through orthogonal experiments in this paper. Relations among the structural parameters meeting the performance indices are derived and shown in the performance atlases. A comprehensive evaluation index is proposed to analyze the overall sensor performance.

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“…The development of embedded torque sensor, especially, a lightweight and highly reliable one, has been of great interest for decades [ 1 – 3 ]. Based on its measurement methods, the torque sensor can be classified as strain gauges [ 4 – 6 ], capacitive [ 7 – 9 ], piezoelectric [ 10 , 11 ], photoelectric [ 1 , 12 – 17 ], and so on [ 18 , 19 ].…”

Section: Introductionmentioning

confidence: 99%

A Highly Reliable Embedded Optical Torque Sensor Based on Flexure Spring

Liu

Tian

Chen

et al. 2018

Applied Bionics and Biomechanics

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We propose a new highly reliable and lightweight embedded optical torque sensor for biomimetic robot arm enabling the torque measurement in joints, which can measure torque of the joint by detecting torsion of its elastic element (mechanical structure or flexure element). Flexure spring is introduced as the elastic element of the torque sensor in this paper. Because of its curve modeling, flexure spring is not inclined to be broken contrast to crossbeam structure, which is commonly used in torque sensor. Thanks to this structure, we can build a torque sensor as an extremely compact and highly reliable size. Six types of flexure spring are proposed to be used as the elastic element of the torque sensor in this paper, which have the potential for the requirements of measurement range and multidimensional detection. The optical electronic, less influenced by electromagnetic interferences, is selected to measure the torsion displacement of the flexure spring. The proposed design is analyzed, which can obtain the successful measurement of the torque with a load capacity of 1 Nm. One of the designed optical torque sensors is optimized by FEM. The calibration and experiment are conducted to ensure its feasibility and performance.

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Research on a novel parallel spoke piezoelectric 6-DOF heavy force/torque sensor

Cited by 33 publications

References 24 publications

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

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

Sensitivity and sensitivity isotropy of an 8/4–4 parallel six-axis force sensor

A Highly Reliable Embedded Optical Torque Sensor Based on Flexure Spring

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