Title :
Experimental analysis on a 4 leg-type force-torque sensor
Author :
Kim, Jin-Woo ; Hong, Ho Sik ; Kang, Chul-Goo
Author_Institution :
Dept. of Mech. Eng., Konkuk Univ., Seoul, South Korea
Abstract :
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.
Keywords :
Visual BASIC; finite element analysis; force measurement; force sensors; graphical user interfaces; matrix algebra; microcontrollers; torque measurement; 4 leg-type elastic structure; 4 leg-type force-torque sensor; FEM analysis; GUI; PIC microcontrollers; USB communication; compliance matrix; control PC; experimental analysis; force measurement; surface strain distribution; visual basic programming; Finite element methods; Force; Force measurement; Robot sensing systems; Strain; Torque; Compliance matrix; Finite Element Method; Force-torque sensor; Strain gauge; USB communication;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145855
