论文信息 - Experimental analysis on a 4 leg-type force-torque sensor

Experimental analysis on a 4 leg-type force-torque sensor

This paper presents an experimental analysis on a new force-torque sensor with a 4 leg-type elastic structure. Cross coupling effect in the sensor is minimized using compliance matrix. The positions of strain gauges in the elastic structure are determined using surface strain distribution of the elastic structure via FEM analysis. For user convenience, USB communication between the sensor body and the control PC is realized through C and Visual Basic programming using PIC microcontrollers.

Chul-Goo Kang | Jin-Woo Kim | Ho sik Hong

[1] Victor Scheinman,et al. Design of a computer controlled manipulator , 1969 .

[2] Chul-Goo Kang,et al. Performance Improvement of a 6-Axis Force-torque Sensor via Novel Electronics and Cross-shaped Double-hole Structure , 2005 .

[3] Keith A. Morris. Has Force/torque Sensing Gained Factory Acceptance? , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4] Chul-Goo Kang. Closed-form force sensing of a 6-axis force transducer based on the Stewart platform , 2001 .

[5] C. Kang. Maximum Structural Error Propagation of Multi-Axis Force Sensors , 2001 .

[6] G. Hirzinger,et al. Multisensory robots and sensor-based path generation , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[7] Masaru Uchiyama,et al. A Systematic Design Procedure to Minimize a Performance Index for Robot Force Sensors , 1991 .

[8] Eduardo Bayo,et al. Six-axis force sensor evaluation and a new type of optimal frame truss design for robotic applications , 1989, J. Field Robotics.

[9] A. K. Bejczy. Smart Sensors for Smart Hands , 1978 .

[10] Antonio Bicchi,et al. A criterion for optimal design of multi-axis force sensors , 1992, Robotics Auton. Syst..

[11] Tsuneo Yoshikawa,et al. Design and signal processing of six-axis force sensors , 1988 .