Development of Six-Axis Force Sensor Using Plate Spring

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.

Development of a Novel Two-Axis Force Sensor for Chinese Massage Robot

2011 ◽  
Vol 103 ◽  
pp. 299-304 ◽  
Author(s):  
Jun Qing Ma ◽  
Ai Guo Song
Keyword(s):  
Bridge Circuit ◽  
Force Sensor ◽  
Static Characteristic ◽  
Strain Gauges ◽  
Element Analysis ◽  
End Effector ◽  
Static Calibration ◽  
And Control ◽  
Interference Error ◽  
Decoupling Algorithm

In order to judge and control applied force of Chinese massage robot’s end-effector on human body accurately, multi-dimensional interactive forces between massage robot’s end-effector and human should be measured. In this paper, a novel two-axis force sensor suitable for massage robot’s end-effector is presented, which is much smaller than existing sensors but in the same range measurement. Mechanical structure is introduced, theoretical analysis of elastic body is made, and finite element analysis is used to analyze its static characteristic. Then, the distribution of strain gauges and design of Hilton Bridge Circuit are described in detail. Finally, a prototype is fabricated. Decoupling algorithm is designed to reduce the interference error. The result of static calibration experimental data shows that the sensor has features of high precision and sensitivity.

Design of the I-BoomCopter UAV for Remote Sensor Mounting

2017 ◽  
Author(s):  
Daniel R. McArthur ◽  
Arindam B. Chowdhury ◽  
David J. Cappelleri
Keyword(s):  
Flight Test ◽  
Force Sensor ◽  
Vertical Surface ◽  
End Effector ◽  
Autonomous Sensor ◽  
Remote Sensor ◽  
Line Force ◽  
Aerial Vehicle ◽  
Sensor Package ◽  
Reverse Thrust

This paper presents the design of the Interacting-BoomCopter (I-BoomCopter) unmanned aerial vehicle (UAV) for mounting a remote sensor package on a vertical surface. Critical to the design is the novel, custom, light-weight passive end-effector. The end-effector has a forward-facing sonar sensor and in-line force sensor to enable autonomous sensor mounting tasks. The I-BoomCopter’s front boom is equipped with a horizontally-mounted propeller which can provide forward and reverse thrust with zero roll and pitch angles. The design and modeling of the updated I-BoomCopter platform is presented along with prototype flight test results. A teleoperated wireless camera sensor mounting task examines the updated platform’s suitability for mounting remote sensor packages.

Pose Accuracy Analysis of Robot Manipulators Based on Kinematics

2011 ◽  
Vol 201-203 ◽  
pp. 1867-1872 ◽  
Author(s):  
Jian Ye Zhang ◽  
Chen Zhao ◽  
Da Wei Zhang
Keyword(s):  
Matrix Theory ◽  
Robot Manipulators ◽  
Error Model ◽  
Robot Kinematics ◽  
Accuracy Analysis ◽  
Serial Link ◽  
End Effector ◽  
Surface Graph ◽  
Position And Orientation ◽  
Kinematics Parameters

The pose accuracy of robot manipulators has long become a major issue to be considered in its advanced application. An efficient methodology to generate the end-effector position and orientation error model of robotic manipulator has been proposed based on the differential transformation matrix theory. According to this methodology, a linear error model that described the end-effector position and orientation errors due to robot kinematics parameters errors has been presented. A computer program to generate the error model and perform the accuracy analysis on any serial link manipulator has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a Phantom Desktop manipulator. The positioning error of the manipulator in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

scholarly journals Simultaneous measurement of flexible robotic link deflection and rotation using position sensing detectors

2021 ◽  
Author(s):  
George Balyasin
Keyword(s):  
Computer Vision ◽  
Simultaneous Measurement ◽  
Laser Diodes ◽  
Strain Gauges ◽  
Trigonometric Functions ◽  
New Materials ◽  
Positioning Accuracy ◽  
End Effector ◽  
Position Sensing ◽  
Optoelectronic Method

It is well known that the flexibility of robotic links causes deformation and reduced positioning accuracy of the robot at the end-effector. This problem becomes more complicated when the links are made of new materials, such as composite. Various approaches including strain gauges, fiber Bragg grating, computer vision and optoelectronics have been applied to solve the problem. This work proposes an optoelectronic method with a reduced number of position sensing detectors and laser diodes to determine both bending and torsion deformations of a robotic link. The attachment of two optoelectronic sensors on the link and the two laser dots produced on these sensors by diodes provide the data required for computations. The tip deflection values are obtained using trigonometric functions. Both iterative and explicit methods of link tip movement have been analysed for efficiency and accuracy. The methods have been validated experimentally and error analysis has been performed.

A New Approach to Type Synthesis of Spatial Robotic Mechanisms

1992 ◽  
Author(s):  
Akhtar N. Malik ◽  
D. R. Kerr
Keyword(s):  
Robot Manipulators ◽  
Sufficient Conditions ◽  
Necessary And Sufficient Conditions ◽  
Type Synthesis ◽  
End Effector ◽  
New Approach ◽  
Parallel Platform ◽  
Necessary And Sufficient

Abstract This paper presents a new approach for carrying out the type synthesis of spatial parallel platform-type mechanisms, used as robot manipulators. It takes into account the total mobility of the system and the partial mobility of its sub-mechanisms. The paper also provides the necessary and sufficient conditions for the mechanisms to function with specified end-effector freedoms, which are described in two theorems. The total number of possible mechanisms with given mobility and structure are tabulated. The work is based on a modified Grübler mobility criterion and also on the consideration of kinematic restraints.

Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective

2006 ◽  
Vol 129 (10) ◽  
pp. 1086-1093 ◽  
Author(s):  
J. Zhang ◽  
J. Rastegar
Keyword(s):  
Dynamic Response ◽  
Closed Loop ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
High Harmonic ◽  
Kinematics And Dynamics ◽  
Control Problems ◽  
End Effector ◽  
Micro Actuators ◽  
And Control

Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulation configuration. Alternatively, micro-actuators may be integrated into the structure of the links to vary their kinematics parameters, such as their lengths during the motion. In this paper, the kinematics and dynamics consequences of each of the aforementioned alternative are studied for manipulators with serial and closed-loop chains. It is shown that for robot manipulators constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro- and macro-manipulator configuration by reducing the potential vibration and control problems at high operating speeds. The conclusions reached in this study also apply to closed-loop chains of parallel and cooperating robot manipulators.

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