Miniaturized multiaxial force/torque sensor with a rollable hexapod structure
Miniaturized multiaxial force/torque sensor with a rollable hexapod structure
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DOI：
10.1515/teme-2017-0046
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发表时间：
2017-09-01
影响因子：
1
通讯作者：
Hatzfeld, Christian
中科院分区：
文献类型：
--
作者：
Matich, Sebastian;Hessinger, Markus;Hatzfeld, Christian
微型力/扭矩传感器是机器人与人类和未知环境交互的相关组件。提出了一种基于Stewart-Gough平台的多维力/力矩传感器的破坏性制造工艺。变形元件由六足几何形状组成，六个传感元件的总直径为9 mm。传感器制造过程分为三个步骤：1.从2 mm钢（1.4301）板铣削出感测元件的平面布置，2.在半桥配置中应用十二个应变计，以及3.将元件卷成六足结构。传感元件的尺寸是可缩放的，以调整传感器的尺寸和标称测量范围。第一个原型的测量范围为4 N和66 mNm。该传感器的最大线性度和迟滞误差为1.16%，交叉灵敏度小于2.76%。
Miniaturized force/torque sensors are relevant components for robotic interaction with humans and unknown environments. This paper presents a disruptive manufacturing process for multiaxial force/torque sensors based on a Stewart-Gough platform. The deformation element consists of a hexapod geometry with six sensing elements with a total diameter of 9 mm. The sensor manufacturing process is divided into three steps: 1. Milling a planar arrangement of sensing elements out of a 2 mm steel (1.4301) plate, 2. applying twelve strain gauges in half-bridge configuration and 3. rolling the elements into a hexapod structure. The dimensions of the sensing elements are scalable to adjust the size and nominal measurement range of the sensor. The first prototype has a measuring range of 4 N and 66 mNm. The characterization of the sensor shows a maximal linearity and hysteresis error of 1.16% and a cross-sensitivity smaller than 2.76 %.