Design of a Novel Six-Axis Wrist Force Sensor
AbstractA novel elastic body design idea of six-axis wrist force sensor with a floating beam was raised based on the analysis of the robot six-axis wrist force sensor with a floating beam. The design ideas improve the sensor’s dynamic performance significantly, while not reducing its sensitivity. First, the design ideas were described in detail, which were analyzed by mechanical modeling and were verified by finite element analysis. Second, the static simulation analysis of the novel elastomer of sensor was carried out. According to the strain distribution performance, the position of the strain gauges pasted and the connection mode of the full-bridge circuits were decided, which can achieve theoretical decoupling. Finally, the comparison between the static and dynamic performance of the novel sensor and the original sensor with floating beams was done. The results show that the static and dynamic performance of the novel six-axis wrist sensor are all better than the original sensor. View Full-Text
Share & Cite This Article
Hu, S.; Wang, H.; Wang, Y.; Liu, Z. Design of a Novel Six-Axis Wrist Force Sensor. Sensors 2018, 18, 3120.
Hu S, Wang H, Wang Y, Liu Z. Design of a Novel Six-Axis Wrist Force Sensor. Sensors. 2018; 18(9):3120.Chicago/Turabian Style
Hu, Shanshan; Wang, Huaiyang; Wang, Yong; Liu, Zhengshi. 2018. "Design of a Novel Six-Axis Wrist Force Sensor." Sensors 18, no. 9: 3120.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.