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Modular design and development methodology for robotic multi-axis F/M sensors

Identifieur interne : 000653 ( Pmc/Corpus ); précédent : 000652; suivant : 000654

Modular design and development methodology for robotic multi-axis F/M sensors

Auteurs : Qiao-Kang Liang ; Dan Zhang ; Gianmarc Coppola ; Wan-Neng Wu ; Kun-Lin Zou ; Yao-Nan Wang ; Wei Sun ; Yun-Jian Ge ; Yu Ge

Source :

RBID : PMC:4840380

Abstract

Accurate Force/Moment (F/M) measurements are required in many applications, and multi-axis F/M sensors have been utilized a wide variety of robotic systems since 1970s. A multi-axis F/M sensor is capable of measuring multiple components of force terms along x-, y-, z-axis (Fx, Fy, Fz), and the moments terms about x-, y- and z-axis (Mx, My and Mz) simultaneously. In this manuscript, we describe experimental and theoretical approaches for using modular Elastic Elements (EE) to efficiently achieve multi-axis, high-performance F/M sensors. Specifically, the proposed approach employs combinations of simple modular elements (e.g. lamella and diaphragm) in monolithic constructions to develop various multi-axis F/M sensors. Models of multi-axis F/M sensors are established, and the experimental results indicate that the new approach could be widely used for development of multi-axis F/M sensors for many other different applications.


Url:
DOI: 10.1038/srep24689
PubMed: 27101924
PubMed Central: 4840380

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