Title :
Design of a novel six-axis force/torque sensor based on strain gauges by finite element method
Author :
Yongjun Sun ; Yiwei Liu ; Minghe Jin ; Hong Liu
Author_Institution :
Dept. of Mechatron. Eng., Harbin Inst. of Technol., Harbin, China
Abstract :
This paper presents a novel six-axis force/torque sensor based on strain gauges. Firstly, the six-axis force/torque sensor´s design criterion is systematically expounded by calibration matrix, condition number, coupling error, sensor accuracy, strain gauge sensitivity, sensor sensitivity and sensor stiffness. Secondly, a novel sensing element is designed and simulated by finite element method. Then, the performance of the sensor is obtained by analysis. In the end, the sensor was manufactured.
Keywords :
calibration; finite element analysis; force sensors; strain gauges; torquemeters; calibration matrix; condition number; coupling error; finite element method; sensor accuracy; sensor sensitivity; sensor stiffness; six axis force-torque sensor; strain gauge sensitivity; Couplings; Finite element analysis; Force; Robot sensing systems; Sensitivity; Strain; Torque; Condition number; Coupling error; Sensor sensitivity; Sensor stiffness; Six-axis force/torque sensor;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053277
