Development of Bolt Type Force Sensor using Strain Gauges

Purpose This paper aims to propose a type of T-shaped two-axis force sensor for measuring the forces in x- and z-axes. The developed sensor has a simple structure and can be effectively assembled into compact devices. Design/methodology/approach A T-shaped plate, with both ends fixed on a base, is used as the substrate of the sensor. Eight strain gauges are placed in the root of the plate or near the sensor head, which can construct two full Wheatstone bridges on the upper and lower surfaces of the plate. When the x- or z-axes forces are applied to the sensor head, different deformation can be generated to the strain gauges. Therefore, the two Wheatstone bridges can be constructed with a different configuration for measuring the forces in x- or z-axes, respectively. Findings A prototype was designed and constructed and experiments were carried out to test the basic performance of the sensor. It has been verified that the developed sensor could measure the x- and z-axes forces independently with a high resolution of 2.5 and 5 mN, respectively. Originality/value Only one thin plate was used in the design, the forces in x- and z-axes could be measured independently and simultaneously, which made the sensor with a simple structure and compact size. Experiments were also verified that there was no crosstalk error occurred in one axis when the force was applied to the other axis.

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Strain gauges based force sensor for precision assembly of helix slow-wave structure

2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) ◽

10.1109/marss.2016.7561738 ◽

2016 ◽

Cited By ~ 2

Author(s):

Jimin Liang ◽

Gong Zhang ◽

Xianshuai Chen ◽

Weijun Wang

Keyword(s):

Slow Wave ◽

Wave Structure ◽

Force Sensor ◽

Slow Wave Structure ◽

Strain Gauges

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A Three-Axis Piezoresistive Micromachined Force Sensor for Studying Cockroach Biomechanics

10.1115/imece2000-1129 ◽

2000 ◽

Author(s):

Michael S. Bartsch ◽

Aaron Partridge ◽

Beth L. Pruitt ◽

Robert J. Full ◽

Thomas W. Kenny

Keyword(s):

Normal Force ◽

Force Sensor ◽

Strain Gauges ◽

Ground Reaction Forces ◽

Large Area ◽

Blaberus Discoidalis ◽

Normal Forces ◽

Orthogonal Components ◽

Reaction Forces ◽

Force Resolution

Abstract A millimeter-scale silicon micromachined force sensor has been designed to measure in three axes the ground reaction forces produced by the cockroach Blaberus Discoidalis during typical running locomotion. Each sensor consists of a large-area (5mm × 5mm) rigid plate supported at its corners by thin flexures instrumented with two ion-implanted piezoresistors each. Comparison of piezoresistive measurements among these eight strain gauges allows the applied force to be resolved into three orthogonal components. Un-amplified sensitivity to normal forces of 1.2V/N has been demonstrated with estimated normal force resolution of 7.3μN on an 800Hz measurement bandwidth.

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Development of Six-Axis Force Sensor Using Plate Spring

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1993.p0046 ◽

1993 ◽

Vol 5 (1) ◽

pp. 46-52

Author(s):

Yoichi Muranaka ◽

◽

Raifu Murai ◽

Masakazu Takahashi ◽

Genichiro Kinoshita ◽

...

Keyword(s):

Robot Manipulators ◽

Force Sensor ◽

Copper Plate ◽

Performance Characteristics ◽

Strain Gauges ◽

End Effector ◽

Torque Vector ◽

Beryllium Copper ◽

Plate Spring

This paper describes a six-axis force sensor for robot manipulators which consists of a cross-shaped plate spring formed from a 160mmx160mm, lmm thick beryllium- copper plate. The plate spring is twisted through a 90° angle at the mid-point of each branch of the crossshaped spring so that it consists of eight flat springs aligned on two orthogonal axes. Six components of the force/.torque vector acting on the end-effector are measured using strain gauges cemented at sixteen locations of the plate spring. Optimal locations of strain gauges are determined through the calculation of strain distri~ ution caused by each component of the force/torque vector. A simple setup for calibration of the sensor, which consists of a pair of commercial linear guides, a pair of force indicating meters, and a pair of micrometer heads, is presented. The performance characteristics of the sensor are examined in detail.

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Development of Micro-Force Sensor Based on 3-RRR Parallel Mechanism

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.36.57 ◽

2010 ◽

Vol 36 ◽

pp. 57-62 ◽

Cited By ~ 2

Author(s):

Peng Hao Hu ◽

Yong Jie Li ◽

Qian Cheng Zhao

Keyword(s):

Sense Organ ◽

Wheatstone Bridge ◽

Force Sensor ◽

Chain Structure ◽

Parallel Structure ◽

Strain Gauges ◽

Precision Engineering ◽

Micro Motion ◽

Motion Stage ◽

Micro Force Sensor

A new style micro-force sensor based on a 3-RRR parallel micro-motion stage which had been researching recent years was introduced in this paper. The sensor can be used in micro-force and micro-torque detection in precision engineering. The result and experience from 3-RRR micro-motion stage research bring this new idea. In the first place, the branched chain structure in motion stage needs to be simplified and improved to adapt to the requirement of sensor. Secondly, a mechanics model is constructed according to the sense organ structure. The Jacobin Matrix which is the most important matrix on parallel structure is analyzed and deduced. The relationship among key dimension is worked out through isotropy parameters. With the theory analysis, the final structure of sense organ is determined. The elastomeric sensor body was pasted with electrical-resistance strain gauges, after it was manufactured by Wire-EDM. Strain gauges employed Wheatstone bridge and amplifier AD620 to produce measuring data. Experiment has indicated that the new sensor is competent for micro-force detecting in X, Y direction and micro-moment around Z direction with high stability and reliability.

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Innovative force sensor for indoor climbing holds – real-time measurements and data processing, design and validation

Proceedings of the Institution of Mechanical Engineers Part P Journal of Sports Engineering and Technology ◽

10.1177/1754337120927122 ◽

2020 ◽

Vol 234 (4) ◽

pp. 298-311

Author(s):

Daniela Maffiodo ◽

Raffaella Sesana ◽

Stefano Gabetti ◽

Alessandro Colombo

Keyword(s):

Processing System ◽

Force Sensor ◽

Strain Gauges ◽

Sensor Design ◽

Experimental Calibration ◽

Load Cells ◽

Applied Forces ◽

Climbing Wall ◽

Force Components ◽

Indoor Climbing

In this article, a system to measure the evolution of load in time and space during indoor climbing is described. The system is based on a set of dedicated multiaxial load cells, which measure the load on each hold of an indoor climbing wall. When the climber hangs on a hold, the load signal is read and sent to a digital acquisition and processing system. Sensor design allows for measurement of the force components applied to the climbing holds, regardless of the application point of the force on the hold. Local deformations were measured through strain gauges. Based on the electrical configuration of the strain gauges, the values of the applied forces can be computed, making the contributions to the deformation due to bending moments and torsion negligible. The sensor was designed, assuming a maximum applicable load of 200 kg without plastic deformation. The design process was based on both analytical and finite element method analyses. An experimental calibration and testing campaign was performed to validate the sensor design.

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A Framework for Optimal Placement of Strain Gauges on Elastic Elements of Force Sensors Using Genetic Algorithms

ITM Web of Conferences ◽

10.1051/itmconf/20203504010 ◽

2020 ◽

Vol 35 ◽

pp. 04010

Author(s):

Sergey I. Gavrilenkov

Keyword(s):

Elastic Element ◽

Traditional Approach ◽

Force Sensor ◽

Optimal Placement ◽

Strain Gauges ◽

Multi Objective Genetic Algorithm ◽

Design Variables ◽

Education Tool ◽

Goal Functions ◽

And Behavior

This paper presents a digital education tool for learning the specifics and behavior of a multi-objective genetic algorithm (MOGA) used to solve the problem of optimal placement of strain gauges on the elastic element of a force sensor. The paper formulates the problem statement and specifies how this problem can be solved using the MOGA. For the problem, the design variables are the locations of strain gauges and angles at which they are positioned. The goal functions are the output signal of the sensor and the measurement error from bending moments, which can be caused by the off-centric application of load. The solution algorithm is implemented within a framework that can be used to investigate and learn how parameters of MOGA influence its performance. The framework is used to run computational experiments for the given problem to find the optimal placement of strain gauges on the elastic element of a given force sensor. The performance of the MOGA in solving this problem is compared to that of the traditional approach.

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Force Sensing Unit with Single Amplifier and an Application to a Whisker Sensor

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2001.p0267 ◽

2001 ◽

Vol 13 (3) ◽

pp. 267-272

Author(s):

Naohiro Ueno ◽

◽

Makoto Kaneko ◽

Keyword(s):

Bridge Circuit ◽

Normal Component ◽

Force Sensor ◽

Strain Gauges ◽

Force Sensing ◽

Flexible Beam ◽

Thin Elastic Plate ◽

Sensor Unit ◽

Force Moment ◽

Acting Force

In this paper, uniaxial force sensor unit with single amplifier is developed. Four strain gauges attached to thin elastic plate constitute a bridge circuit which counts normal component of acting force automatically. It is easy to implant a uniaxial moment sensor in the unit independently. As an application of developed sensor unit, a whisker sensor system, which is simply composed of a flexible tactile beam and two force/moment sensor units, is proposed. The system is able to detect contact location between the flexible beam and an object. Contact force when the beam makes contact at its tip end is experimentally examined.

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Using the Own Flexibility of a Climbing Robot as a Double Force Sensor

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.495.91 ◽

2011 ◽

Vol 495 ◽

pp. 91-95 ◽

Cited By ~ 1

Author(s):

Jose Andrés Somolinos ◽

Rafael Morales ◽

Carlos Morón ◽

Alfonso Garcia

Keyword(s):

Force Sensor ◽

Experimental Results ◽

External Control ◽

Strain Gauges ◽

Force Sensors ◽

Climbing Robot ◽

Climbing Robots ◽

Limited Space

Force sensors are used when interaction tasks are carried out by robots in general, and by climbing robots in particular. If the mechanics and electronics systems are contained inside the own robot, the robot becomes portable without external control. Commercial force sensors cannot be used due to limited space and weight. By selecting the links material with appropriate stiffness and placing strain gauges on the structure, the own robot flexibility can be used such as force sensor. Thus, forces applied on the robot tip can be measured without additional external devices. Only gauges and small internal electronic converters are necessary. This paper illustrates the proposed algorithm to achieve these measurements. Additionally, experimental results are presented.

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