Modular design and development methodology for robotic multi-axis F/M sensors.
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.
College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China.|State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, Hunan, China.
Qiao-Kang
QK
Liang
Department of Mechanical Engineering, York University, Toronto, ON M3J 1P3, Canada.
Dan
D
Zhang
Department of Mechanical Engineering, York University, Toronto, ON M3J 1P3, Canada.
Gianmarc
G
Coppola
College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China.|National Engineering Research Lab for Robot Vision Perception and Control, Hunan University, Changsha, Hunan 410082, China.
Wan-Neng
WN
Wu
College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China.|National Engineering Research Lab for Robot Vision Perception and Control, Hunan University, Changsha, Hunan 410082, China.
Kun-Lin
KL
Zou
College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China.|National Engineering Research Lab for Robot Vision Perception and Control, Hunan University, Changsha, Hunan 410082, China.
Yao-Nan
YN
Wang
College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China.|State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, Hunan, China.
Wei
W
Sun
Institute of Intelligent Machines, Chinese Academy of Science, Hefei, Anhui 230031, China.
Yun-Jian
YJ
Ge
Institute of Intelligent Machines, Chinese Academy of Science, Hefei, Anhui 230031, China.
Yu
Y
Ge