scholarly journals Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm

2006 ◽  
Vol 18 (2) ◽  
pp. 121-130 ◽  
Author(s):  
Dzmitry Tsetserukou ◽  
◽  
Riichiro Tadakuma ◽  
Hiroyuki Kajimoto ◽  
Susumu Tachi
Keyword(s):  
Strain Gauge ◽  
Impedance Control ◽  
Robot Arm ◽  
Torque Sensor ◽  
Optical Torque

We recently developed an optical torque sensor to replace expensive strain-gauge-based sensor on the anthropomorphic robot arm and realize local impedance control in individual joints.

scholarly journals A Highly Reliable Embedded Optical Torque Sensor Based on Flexure Spring

2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Yuwang Liu ◽  
Tian Tian ◽  
Jibiao Chen ◽  
Fuhua Wang ◽  
Defu Zhang
Keyword(s):  
Elastic Element ◽  
Load Capacity ◽  
Measurement Range ◽  
Robot Arm ◽  
Torque Sensor ◽  
Curve Modeling ◽  
Biomimetic Robot ◽  
Successful Measurement ◽  
And Performance ◽  
Optical Torque

We propose a new highly reliable and lightweight embedded optical torque sensor for biomimetic robot arm enabling the torque measurement in joints, which can measure torque of the joint by detecting torsion of its elastic element (mechanical structure or flexure element). Flexure spring is introduced as the elastic element of the torque sensor in this paper. Because of its curve modeling, flexure spring is not inclined to be broken contrast to crossbeam structure, which is commonly used in torque sensor. Thanks to this structure, we can build a torque sensor as an extremely compact and highly reliable size. Six types of flexure spring are proposed to be used as the elastic element of the torque sensor in this paper, which have the potential for the requirements of measurement range and multidimensional detection. The optical electronic, less influenced by electromagnetic interferences, is selected to measure the torsion displacement of the flexure spring. The proposed design is analyzed, which can obtain the successful measurement of the torque with a load capacity of 1 Nm. One of the designed optical torque sensors is optimized by FEM. The calibration and experiment are conducted to ensure its feasibility and performance.

Validierung einer optischen Drehmomentmessung*/Validation of an optical torque measurement

2017 ◽  
Vol 107 (09) ◽  
pp. 590-593
Author(s):  
T. Schneider ◽  
J. Wortmann ◽  
B. Eilert ◽  
M. Stonis ◽  
L. Prof. Overmeyer
Keyword(s):  
Measurement Method ◽  
Rotation Angle ◽  
State Of The Art ◽  
Torque Sensor ◽  
Torque Measurement ◽  
Research Project ◽  
Industrial Sectors ◽  
Current State ◽  
Stand Der Technik ◽  
Optical Torque

Das Erfassen von Drehmomenten durch Sensoren sowie das Erzeugen von Drehmomenten stellen eine wichtige Basis für viele Industriezweige dar. Im Rahmen eines Forschungsprojektes wurde ein optisches, berührungsloses Messverfahren zur absoluten Drehwinkel- und Drehmomentmessung entwickelt. Zum Vergleich mit dem aktuellen Stand der Technik wurde ein Versuchsstand aufgebaut sowie ein Referenzdrehmomentsensor eingesetzt. Die Ergebnisse dieser Validierung werden in diesem Fachaufsatz vorgestellt.   The measurement of torque via sensors as well as the generation of torque are the basis of many industrial sectors. Within a research project an optical and non-contact measurement method to detect the absolute rotation angle and torque was developed. For comparison with the current state of the art torque sensors a test stand was built and compared to a reference torque sensor. The results of this validation are presented in the present paper.

Compact and lightweight optical torque sensor for robots with increased range

2012 ◽  
Vol 173 (1) ◽  
pp. 81-89 ◽  
Author(s):  
Sarmad Shams ◽  
Ji Yeong Lee ◽  
Changsoo Han
Keyword(s):  
Torque Sensor ◽  
Optical Torque

Joint position-based impedance control with load compensation for robot arm

2015 ◽  
Vol 39 (3) ◽  
pp. 337-344 ◽  
Author(s):  
Shih-Hsuan Chiu ◽  
Cheng-Chin Chen ◽  
Kun-Ting Chen ◽  
Xin-Jie Huang ◽  
Sheng-Hong Pong
Keyword(s):  
Impedance Control ◽  
Joint Position ◽  
Robot Arm ◽  
Load Compensation

Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor

2012 ◽  
Vol 268-270 ◽  
pp. 1531-1537
Author(s):  
Xiao Xing Dong ◽  
Ge Li ◽  
Geng Feng Liu ◽  
Jie Zhao
Keyword(s):  
Force Feedback ◽  
Impedance Control ◽  
Dynamic Properties ◽  
Contact Forces ◽  
Robotic Arm ◽  
Torque Sensor ◽  
Redundant Manipulator ◽  
Control Effect ◽  
Impedance Parameters ◽  
Kinematic Solution

A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA’s end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.

scholarly journals Design and Simulation of a Piezoresistive v-Shaped Strain Gauge for Torque Measring

2021 ◽  
Vol 1 (2) ◽  
pp. 41-50
Keyword(s):  
Modeling And Simulation ◽  
Strain Gauge ◽  
Theoretical Studies ◽  
Torque Sensor ◽  
Resistance Change ◽  
Ansys Simulation ◽  
Maximum Resistance ◽  
Applied Torque ◽  
Flexible Region ◽  
Excellent Control

Modeling and simulation of system design adjustment is respectable training for design and engineering decisions in real world jobs. In this paper, the exact perseverance connected with the strain of components is very important for structural designs, analyses, and for excellent control. The information linked to this type of test is usually related to the exact dimensions connected with the pressure within a flexible region. This paper proposed the design and simulation of a torque sensor with a piezoresistive V-shaped strain gauge. The piezoresistive measure of a precious metal for a stable base was made according to the results of an ANSYS simulation. A torque sensor with a piezoresistive V-shaped tension measure on a base was made. The result of the particular simulation shifted the fraction of tension on the base to enable the torque on the substrate to be measured. Theoretical studies on the piezoresistive measure of a metal for the stable base as well as the torque sensor were introduced. A maximum of 127.29 με and a maximum resistance change in gauge equal to 0.091Ω were achieved for an applied torque of 22.0725 Nm. Here, computer systems modeling and simulation are going to be used.

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