The design of a six-component force/moment sensor and evaluation of its uncertainty

Abstract

This paper describes the development of a six-component force/moment sensor with plate beams which may be used in industry for measuring forces Fx, Fy and Fz and moments Mx, My and Mz simultaneously and the evaluation of its relative expanded uncertainty. In order to develop the six-component force/moment sensor with small capacity (Fx of the sensor (x-direction force sensor), Fy and Fz are each 100 N, Mx of the sensor (x-direction moment sensor) and My are 1 N m, Mz is 2 N m), the structure of such a sensing element for the six-component force/moment sensor is newly modelled, designed and manufactured. Also, methods for calibration and evaluation of the relative expanded uncertainty are newly proposed. The six-component force/moment sensor developed here is calibrated with the proposed calibration method and the relative expanded uncertainty is evaluated using the proposed uncertainty evaluation method and the calibration results. This reveals that the relative expanded uncertainty of the six-component force/moment sensor is less than 2.78%. Thus, it is thought that this six-component force/moment sensor can be usefully used in industry and that the methods for calibration and evaluation of the uncertainty can also be used for calibration and evaluation of the uncertainty of the multi-component force/moment sensor.

Development of 6-axis force/moment sensor for a humanoid robot's intelligent foot

“…Wheastone bridges are made for each sensor in 6-axis force/moment sensor [5][6][7][8][9][10]. The rated strain of each sensor under each rated force or moment is determined from the strain values of the attached strain-gages to each sensor.…”

“…That is, the rated forces and moments of the sensor in 6-axis force/moment sensor for direction of robot's weight are larger than except it in the same or similar rated output. But, the developed 6-axis force/moment sensors [5][6][7][8][9][10][11][12] have been had no consideration for robot's weight in its design. So, they are not proper for a humanoid robot's foot.…”

“…So, they are not proper for a humanoid robot's foot. The sensor [5,6] has the small capacities that the rated force of F z sensor is 100 N, those of M x sensor and M y sensor are 1 N m, the sensor [7] has only F x sensor, F y sensor and M z sensor, the sensor [8,9] has larger size of 170 mm × 1700 mm × 150 mm for robot's foot, the sensor [10] is smaller size of 40 mm × 40 mm × 80 mm and the small capacities F x , F y , F z sensor is all 10 N and M x = M y = M z is 1 N m for robot's foot, the sensor [11,12] has smaller or larger size, and larger capacities.…”

Design and Analysis of a Novel Six-Component F/T Sensor based on CPM for Passive Compliant Assembly

“…After F/T control has been recognized as a key scheme for using robots in advanced applications [1], various types of F/T sensors have been designed and developed [2][3][4][5][6]. Several six-axis force sensors are commercially available at present, such as force sensors of ATI [7] and JR3.…”

Crosstalk calibration for torque sensor using actual sensing frame

“…Among them, six-axis force/torque sensors [3][4][5] and joint torque sensors are popular. The six-axis force/torque sensor, frequently mounted at the wrist of the manipulator, can accurately measure the external load acting on the end-effector.…”