Miniature robust five-dimensional fingertip force/torque sensor with high performance
Identifieur interne : 002E41 ( Main/Merge ); précédent : 002E40; suivant : 002E42Miniature robust five-dimensional fingertip force/torque sensor with high performance
Auteurs : Qiaokang Liang [République populaire de Chine] ; Dan Zhang [Canada] ; Yunjian Ge [République populaire de Chine] ; Xiuxiang Huang [République populaire de Chine] ; Zhongyang Li [République populaire de Chine]Source :
- Measurement Science and Technology [ 0957-0233 ] ; 2011.
Abstract
This paper proposes an innovative design and investigation for a five-dimensional fingertip force/torque sensor with a dual annular diaphragm. This sensor can be applied to a robot hand to measure forces along the X-, Y- and Z-axes (Fx, Fy and Fz) and moments about the X- and Y-axes (Mx and My) simultaneously. Particularly, the details of the sensing principle, the structural design and the overload protection mechanism are presented. Afterward, based on the design of experiments approach provided by the software ANSYS, a finite element analysis and an optimization design are performed. These are performed with the objective of achieving both high sensitivity and stiffness of the sensor. Furthermore, static and dynamic calibrations based on the neural network method are carried out. Finally, an application of the developed sensor on a dexterous robot hand is demonstrated. The results of calibration experiments and the application show that the developed sensor possesses high performance and robustness.
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DOI: 10.1088/0957-0233/22/3/035205
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Technol.</title><idno type="ISSN">0957-0233</idno><idno type="eISSN">1361-6501</idno><imprint><publisher>IOP Publishing</publisher><date type="published" when="2011">2011</date><biblScope unit="volume">22</biblScope><biblScope unit="issue">3</biblScope><biblScope unit="page" from="1">1</biblScope><biblScope unit="page" to="11">11</biblScope><biblScope unit="production">Printed in the UK & the USA</biblScope></imprint><idno type="ISSN">0957-0233</idno></series><idno type="istex">1D562E80D4A48E06E4929293F5717A324B0772D4</idno><idno type="DOI">10.1088/0957-0233/22/3/035205</idno><idno type="PII">S0957-0233(11)54138-9</idno><idno type="articleID">354138</idno><idno type="articleNumber">035205</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0957-0233</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract">This paper proposes an innovative design and investigation for a five-dimensional fingertip force/torque sensor with a dual annular diaphragm. This sensor can be applied to a robot hand to measure forces along the X-, Y- and Z-axes (Fx, Fy and Fz) and moments about the X- and Y-axes (Mx and My) simultaneously. Particularly, the details of the sensing principle, the structural design and the overload protection mechanism are presented. Afterward, based on the design of experiments approach provided by the software ANSYS, a finite element analysis and an optimization design are performed. These are performed with the objective of achieving both high sensitivity and stiffness of the sensor. Furthermore, static and dynamic calibrations based on the neural network method are carried out. Finally, an application of the developed sensor on a dexterous robot hand is demonstrated. The results of calibration experiments and the application show that the developed sensor possesses high performance and robustness.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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