Flexible building blocks: Modularized design concept of a six-axis force/torque sensor
Mechatronics and Automation(2011)
摘要
Six-axis force/torque sensors have lots of application in robotics and automation areas. A novel modularized design concept to formulate six-axis force/torque sensors is introduced in this paper, which provide a flexible and low-cost solution to measure multi-dimensional force/torque signal using a modularized assembly of several off-the-shelf 1-D force sensors. Matrix-based force measuring model are derived to compute the six-axis force/torque signal from the output signal of nine 1-D force sensors. Detailed structural design is explained and preliminary calibration method is introduced to compensate the assembly error. The preliminary experiment results illustrate the feasibility of this modularized design concept. The output signal of the six-axis force/torque signal is consistent with the reference signal measured by an ATI Nano-17 force/torque sensor. One major advantage of this design concept is its flexibility, i.e. we can easily adapt the mechanical structure to design multi-dimensional force/torque sensors ranging from 2-DOFs to 6-DoFs (Degree-of Freedoms).
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关键词
modularized assembly,force sensors,six axis force/torque sensor,flexible building blocks,six-axis force/torque sensor,modularized design concept,measurement principle,robotics,matrix based force measuring model,mechanical structure,preliminary calibration method,six axis force/torque signal,1d force sensors,low cost solution,torque measurement,automation areas,force sensor,modular design,degree of freedom
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