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Sensors 2016, 16(9), 1506;

Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor

Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China
Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China
Department of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada
Institute of Industrial Science, The University of Tokyo, Tokyo 153-8505, Japan
Author to whom correspondence should be addressed.
Academic Editor: Gangbing Song
Received: 15 June 2016 / Revised: 30 August 2016 / Accepted: 8 September 2016 / Published: 15 September 2016
(This article belongs to the Special Issue Advanced Robotics and Mechatronics Devices)
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In the development of the multi-dimensional force sensor, dimension coupling is the ubiquitous factor restricting the improvement of the measurement accuracy. To effectively reduce the influence of dimension coupling on the parallel multi-dimensional force sensor, a novel parallel three-dimensional force sensor is proposed using a mechanical decoupling principle, and the influence of the friction on dimension coupling is effectively reduced by making the friction rolling instead of sliding friction. In this paper, the mathematical model is established by combining with the structure model of the parallel three-dimensional force sensor, and the modeling and analysis of mechanical decoupling are carried out. The coupling degree (ε) of the designed sensor is defined and calculated, and the calculation results show that the mechanical decoupling parallel structure of the sensor possesses good decoupling performance. A prototype of the parallel three-dimensional force sensor was developed, and FEM analysis was carried out. The load calibration and data acquisition experiment system are built, and then calibration experiments were done. According to the calibration experiments, the measurement accuracy is less than 2.86% and the coupling accuracy is less than 3.02%. The experimental results show that the sensor system possesses high measuring accuracy, which provides a basis for the applied research of the parallel multi-dimensional force sensor. View Full-Text
Keywords: three-dimensional force sensor; mechanical decoupling; parallel structure; calibration experiment three-dimensional force sensor; mechanical decoupling; parallel structure; calibration experiment

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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 (CC BY 4.0).

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Zhao, Y.; Jiao, L.; Weng, D.; Zhang, D.; Zheng, R. Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor. Sensors 2016, 16, 1506.

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