Miniature robust five-dimensional fingertip force/torque sensor with high performance

2011 ◽  
Vol 22 (3) ◽  
pp. 035205 ◽  
Author(s):  
Qiaokang Liang ◽  
Dan Zhang ◽  
Yunjian Ge ◽  
Xiuxiang Huang ◽  
Zhongyang Li
Keyword(s):  
High Performance ◽  
Torque Sensor ◽  
Fingertip Force

scholarly journals A High Performance Torque Sensor for Milling Based on a Piezoresistive MEMS Strain Gauge

Sensors ◽  
2016 ◽  
Vol 16 (4) ◽  
pp. 513 ◽  
Author(s):  
Yafei Qin ◽  
Yulong Zhao ◽  
Yingxue Li ◽  
You Zhao ◽  
Peng Wang
Keyword(s):  
Strain Gauge ◽  
High Performance ◽  
Torque Sensor

scholarly journals A Comparison of Waterproof Motor Housings for Student Robotics Teams

2021 ◽  
Vol 10 (4) ◽  
Author(s):  
Charlie Diaz ◽  
Colin O'Connor
Keyword(s):  
Technology Education ◽  
High Performance ◽  
Advanced Technology ◽  
Underwater Robotics ◽  
Torque Sensor ◽  
Alternative Technology ◽  
Overall Performance ◽  
Design Requirements ◽  
Alternative Designs ◽  
Static Torque

Professionals and students alike create high-performance Remotely Operated Vehicles (ROV)s to complete a multitude of tasks underwater. The student ROV competition created by Marine Advanced Technology Education (MATE) simulates the tasks faced by the modern professional underwater robotics industry. Students often design their ROVs with techniques used by the professional underwater robotics industry. Unlike professionals, students do not have many resources comparing manufacturable ROV components that fit within their design restrictions. Without information about components that they choose to use on their ROVs, students might miss an opportunity to implement a better alternative technology. Such is the case with older Shaft Sealed Housings (SSH) and less common Magnetically Coupled Housings (MCH). In this paper, essential aspects of both alternative designs for waterproof motor housings are tested to determine overall performance. The waterproofness of each housing is tested experimentally over long periods of time in an environment simulating the most extreme depths experienced at the MATE ROV Competition. Maximum static torque is measured on a torque sensor. Cost and manufacturability of each housing are recorded in tables. Ultimately, student robotics teams are left to determine which motor housing best fits their design requirements, based on the data discovered and presented in this paper.

scholarly journals Development and Application of Motor-Equipped Reaction Torque Sensor with Adjustable Measurement Range and Sensitivity

2020 ◽  
Vol 10 (24) ◽  
pp. 8770
Author(s):  
Jungwook Suh ◽  
Joonwoo Lee ◽  
Dong-Eun Lee
Keyword(s):  
High Performance ◽  
Measurement Range ◽  
Load Cell ◽  
Torque Sensor ◽  
Torque Measurement ◽  
Simple Motor ◽  
Automation Systems ◽  
Applied Torque ◽  
Rotating Shafts ◽  
Reaction Torque

Various high-performance force/torque sensors have been developed for the purpose of advancing automation systems. However, the demand for simple torque measurement of rotating shafts continues to exist, and expensive multi-axis sensors need not be wasted here. In this paper we propose a simple motor-equipped single-axis reaction torque sensor to measure the applied torque continuously using a load cell. The proposed sensor has long lever and base linkages, and the adjustable moment arm consequently enables adjusting measurement range and sensitivity by repositioning the assembled load cell on the two linkages. This paper shows the design of the proposed torque sensor, and it is evaluated by experiments for various applied torque and lever length. Moreover, the sensor is applied to an existing example: a commercial balanced-arm lamp with and without its balancing spring. The proposed torque sensor can continuously and successfully measure the applied torque, and it will be utilized in various industries and laboratories without much money.

High Performance Milling Torque Sensor

1998 ◽  
Vol 120 (3) ◽  
pp. 504-514 ◽  
Author(s):  
D. A. Smith ◽  
S. Smith ◽  
J. Tlusty
Keyword(s):  
Machine Tool ◽  
Frequency Response ◽  
Strain Gage ◽  
Digital Signal Processor ◽  
High Performance ◽  
Torsional Stiffness ◽  
Torque Sensor ◽  
Sensing Element ◽  
Combined System ◽  
Face Mill

Machine tool supervision and control algorithms require reliable and effective sensor signals to operate properly. In effort to satisfy this need, a high stiffness, wide bandwidth torque sensor for use in milling has been developed which directly measures the torque applied to a milling cutter during operation. The sensor is designed to fit between the tool and holder on conventional tooling with very little effect on the cutting process. The sensor is strain gage based and provides a virtually distortionless torque measurement over a bandwidth from DC to 2000 Hz when using a 100 mm diameter face mill on a commercial machining center. High torsional stiffness was achieved to provide a wide measurement bandwidth while allowing enough material strain, in the sensing element, to provide sufficient resolution of the milling torque. The radial stiffness of the sensor was also designed to be large enough not to compromise the stability and accuracy of the machine tool. The sensor is designed to house the critical electronic components which amplify the small voltage strain gage signal and convert the measurement into digital samples. These samples are continuously transmitted from the rotating spindle, in all positions, to a stationary receiver. Because the sensor is part of a structural system which also includes the spindle, tool holder and tool, the frequency response has distortions associated with the vibrational modes of the system. In order to obtain a wide undistorted bandwidth, a compensation filter having the reciprocal response of the sensor has been designed and implemented on a digital signal processor (DSP). The combined system of the sensor cascaded with the DSP provides a flat magnitude and linear phase frequency response.

scholarly journals Virtual Torque Sensor for Low-Cost RC Servo Motors Based on Dynamic System Identification Utilizing Parametric Constraints

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3856 ◽  
Author(s):  
Yoonkyu Hwang ◽  
Yuki Minami ◽  
Masato Ishikawa
Keyword(s):  
System Identification ◽  
High Performance ◽  
Dynamic Models ◽  
Low Cost ◽  
Human Robot Interaction ◽  
Robot Dynamics ◽  
Internal Dynamic ◽  
Torque Sensor ◽  
Virtual Sensor ◽  
Effective Manner

We propose a novel virtual torque sensor for commercial low-cost radio-controlled (RC) servo motors. The virtual torque sensor has played an important role for conventional robots. It has been used for torque-required control applications such as human–robot interaction and under-actuated robots. However, most virtual torque sensors are based on the inversion of actuators or robot dynamics with the assumption that entire dynamics are known. This is not applicable to the RC servo motors that have unknown control structures. As RC servo motors enable researchers and hobbyists to create lightweight but high performance robots in an easy and cost-effective manner, the development of a virtual torque sensor for these motors is necessary. In this study, we propose a design method of a virtual torque sensor for RC servo motors. First, the virtual sensor is derived mathematically based on internal dynamic models with parametric constraints and compared to the conventional model. Second, a dedicated system identification method is developed for the proposed virtual sensor to implement the sensor in actual experiments. Finally, we compare experimental results with the measurements obtained by an actual sensor.

A High Performance Energy Analyzer for Use in Electron Scanning Microscopy

1969 ◽  
Vol 27 ◽  
pp. 14-15
Author(s):  
A. V. Crewe ◽  
M. Isaacson ◽  
D. Johnson
Keyword(s):  
High Performance ◽  
Vertical Plane ◽  
Median Plane ◽  
Electron Gun ◽  
Uniform Field ◽  
Loss Mechanism ◽  
Electron Scanning Microscopy ◽  
Sector Type ◽  
Double Focusing ◽  
Electron Energy Loss

A double focusing magnetic spectrometer has been constructed for use with a field emission electron gun scanning microscope in order to study the electron energy loss mechanism in thin specimens. It is of the uniform field sector type with curved pole pieces. The shape of the pole pieces is determined by requiring that all particles be focused to a point at the image slit (point 1). The resultant shape gives perfect focusing in the median plane (Fig. 1) and first order focusing in the vertical plane (Fig. 2).

Vacuum System to Minimize the Specimen Contamination of High-Performance EM

1977 ◽  
Vol 35 ◽  
pp. 68-69
Author(s):  
N. Yoshimura ◽  
K. Shirota ◽  
T. Etoh
Keyword(s):  
Electron Microscope ◽  
High Speed ◽  
High Performance ◽  
High Vacuum ◽  
Vacuum System ◽  
Pump System ◽  
Pumping System ◽  
Diffusion Pump ◽  
Almost All ◽  
Cascade Type

One of the most important requirements for a high-performance EM, especially an analytical EM using a fine beam probe, is to prevent specimen contamination by providing a clean high vacuum in the vicinity of the specimen. However, in almost all commercial EMs, the pressure in the vicinity of the specimen under observation is usually more than ten times higher than the pressure measured at the punping line. The EM column inevitably requires the use of greased Viton O-rings for fine movement, and specimens and films need to be exchanged frequently and several attachments may also be exchanged. For these reasons, a high speed pumping system, as well as a clean vacuum system, is now required. A newly developed electron microscope, the JEM-100CX features clean high vacuum in the vicinity of the specimen, realized by the use of a CASCADE type diffusion pump system which has been essentially improved over its predeces- sorD employed on the JEM-100C.

Use of the Magnetostatic Analogue In Electromagnetic Lens Engineering

1970 ◽  
Vol 28 ◽  
pp. 360-361
Author(s):  
John W. Coleman
Keyword(s):  
Boundary Conditions ◽  
High Performance ◽  
Force Fields ◽  
Optical Design ◽  
Direct Conversion ◽  
Design Engineering ◽  
Design Data ◽  
Scalar Potentials ◽  
Geometric Elements ◽  
At Will

In the design engineering of high performance electromagnetic lenses, the direct conversion of electron optical design data into drawings for reliable hardware is oftentimes difficult, especially in terms of how to mount parts to each other, how to tolerance dimensions, and how to specify finishes. An answer to this is in the use of magnetostatic analytics, corresponding to boundary conditions for the optical design. With such models, the magnetostatic force on a test pole along the axis may be examined, and in this way one may obtain priority listings for holding dimensions, relieving stresses, etc..The development of magnetostatic models most easily proceeds from the derivation of scalar potentials of separate geometric elements. These potentials can then be conbined at will because of the superposition characteristic of conservative force fields.

Prospects for convergent beam electron diffraction with a 200kV cold field-emission transmission electron microscope

1991 ◽  
Vol 49 ◽  
pp. 466-467
Author(s):  
J W Steeds ◽  
R Vincent
Keyword(s):  
Field Emission ◽  
High Performance ◽  
Small Diameter ◽  
Convergent Beam Electron Diffraction ◽  
Zone Axis ◽  
Medium Voltage ◽  
Transmission Electron ◽  
Good Crystallinity ◽  
Special Modification ◽  
Convergent Beam

We review the analytical powers which will become more widely available as medium voltage (200-300kV) TEMs with facilities for CBED on a nanometre scale come onto the market. Of course, high performance cold field emission STEMs have now been in operation for about twenty years, but it is only in relatively few laboratories that special modification has permitted the performance of CBED experiments. Most notable amongst these pioneering projects is the work in Arizona by Cowley and Spence and, more recently, that in Cambridge by Rodenburg and McMullan.There are a large number of potential advantages of a high intensity, small diameter, focussed probe. We discuss first the advantages for probes larger than the projected unit cell of the crystal under investigation. In this situation we are able to perform CBED on local regions of good crystallinity. Zone axis patterns often contain information which is very sensitive to thickness changes as small as 5nm. In conventional CBED, with a lOnm source, it is very likely that the information will be degraded by thickness averaging within the illuminated area.

Current State of Biological High-Resolution Scanning Electron Microscopy

1988 ◽  
Vol 46 ◽  
pp. 180-181 ◽  
Author(s):  
Klaus-Ruediger Peters
Keyword(s):  
High Performance ◽  
Low Voltage ◽  
Backscattered Electrons ◽  
Lens Position ◽  
Low Voltage Operation ◽  
Signal Collection ◽  
Probe Size ◽  
Electron Microscopes ◽  
Scanning Electron Microscopes ◽  
Scanning Electron

A new generation of high performance field emission scanning electron microscopes (FSEM) is now commercially available (JEOL 890, Hitachi S 900, ISI OS 130-F) characterized by an "in lens" position of the specimen where probe diameters are reduced and signal collection improved. Additionally, low voltage operation is extended to 1 kV. Compared to the first generation of FSEM (JE0L JSM 30, Hitachi S 800), which utilized a specimen position below the final lens, specimen size had to be reduced but useful magnification could be impressively increased in both low (1-4 kV) and high (5-40 kV) voltage operation, i.e. from 50,000 to 200,000 and 250,000 to 1,000,000 x respectively.At high accelerating voltage and magnification, contrasts on biological specimens are well characterized1 and are produced by the entering probe electrons in the outmost surface layer within -vl nm depth. Backscattered electrons produce only a background signal. Under these conditions (FIG. 1) image quality is similar to conventional TEM (FIG. 2) and only limited at magnifications >1,000,000 x by probe size (0.5 nm) or non-localization effects (%0.5 nm).

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