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Sensors 2018, 18(9), 3120; https://doi.org/10.3390/s18093120

Design of a Novel Six-Axis Wrist Force Sensor

School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China
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Received: 18 August 2018 / Revised: 6 September 2018 / Accepted: 6 September 2018 / Published: 16 September 2018
(This article belongs to the Section Physical Sensors)
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Abstract

A 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
Keywords: six-axis wrist force sensor; cross-beams; elastomer designed six-axis wrist force sensor; cross-beams; elastomer designed
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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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Hu, S.; Wang, H.; Wang, Y.; Liu, Z. Design of a Novel Six-Axis Wrist Force Sensor. Sensors 2018, 18, 3120.

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