Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams

This paper presents a novel device for measuring components of forces and moments along and about three orthogonal axes based on E-type membranes compared to conventional sensor based on cross beams. After design and analysis of both types of sensors, we chose to fabricate a six-dimensional wrist fo...

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Bibliographic Details
Published inMeasurement : journal of the International Measurement Confederation Vol. 43; no. 10; pp. 1702 - 1719
Main Authors Liang, Qiaokang, Zhang, Dan, Song, Quanjun, Ge, Yunjian, Cao, Huibin, Ge, Yu
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.12.2010
Subjects
Beams (structural)
Calibration
Design engineering
E-type membrane
Errors
Force-sensing element
Force/torque sensor
Membranes
Sensors
Six-dimensional
Torque
Wrist
E-type membrane
Six-dimensional
Force/torque sensor
Force-sensing element
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Summary:This paper presents a novel device for measuring components of forces and moments along and about three orthogonal axes based on E-type membranes compared to conventional sensor based on cross beams. After design and analysis of both types of sensors, we chose to fabricate a six-dimensional wrist force/torque sensor based on E-type membranes. Furthermore, the calibration and decoupling based on Neural Network method were performed, and the sensor possesses excellent characteristics such as high measurement sensitivity, overload protection, good linearity, and weak couplings between components. Finally, its maximum interference error and nonlinearity error are 1.6% F.S. and 0.17% F.S., respectively.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0263-2241
1873-412X
DOI:10.1016/j.measurement.2010.09.010