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Sensors 2013, 13(5), 6669-6686; doi:10.3390/s130506669
Article

Fast Estimation of Strains for Cross-Beams Six-Axis Force/Torque Sensors by Mechanical Modeling

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Received: 27 February 2013 / Revised: 10 May 2013 / Accepted: 15 May 2013 / Published: 17 May 2013
(This article belongs to the Section Physical Sensors)
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Abstract

Strain distributions are crucial criteria of cross-beams six-axis force/torque sensors. The conventional method for calculating the criteria is to utilize Finite Element Analysis (FEA) to get numerical solutions. This paper aims to obtain analytical solutions of strains under the effect of external force/torque in each dimension. Genetic mechanical models for cross-beams six-axis force/torque sensors are proposed, in which deformable cross elastic beams and compliant beams are modeled as quasi-static Timoshenko beam. A detailed description of model assumptions, model idealizations, application scope and model establishment is presented. The results are validated by both numerical FEA simulations and calibration experiments, and test results are found to be compatible with each other for a wide range of geometric properties. The proposed analytical solutions are demonstrated to be an accurate estimation algorithm with higher efficiency.
Keywords: mechanical model; cross beams; six-axis force/torque sensors; FEA; strains mechanical model; cross beams; six-axis force/torque sensors; FEA; strains
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Ma, J.; Song, A. Fast Estimation of Strains for Cross-Beams Six-Axis Force/Torque Sensors by Mechanical Modeling. Sensors 2013, 13, 6669-6686.

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