Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module Manipulator
A novel six-axis force/torque sensor (F/T sensor) for an Experimental Module Manipulator (EMM) in the Chinese Space Station (CSS) is developed in this paper. First, we designed the elastomer structure of the F/T sensor and used the analytical method and the finite element method to analyze the strai...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/9/3603 |
| _version_ | 1797502712058740736 |
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| author | Yongjun Sun |
| author_facet | Yongjun Sun |
| author_sort | Yongjun Sun |
| collection | DOAJ |
| description | A novel six-axis force/torque sensor (F/T sensor) for an Experimental Module Manipulator (EMM) in the Chinese Space Station (CSS) is developed in this paper. First, we designed the elastomer structure of the F/T sensor and used the analytical method and the finite element method to analyze the strain, in order to accomplish the strain gauges’ layout. Then, the electrical system was designed, which mainly realizes the acquisition of force/torque information, temperature and serial communication with the end effector (EE). Following this, we analyzed and designed the adaptability of the F/T sensor to the space environment. After this, the manufacturing process of the sensor was introduced in detail, and the F/T sensor was calibrated by a pulley weight system. Finally, the sensor was tested on the space environment adaptability of mechanical vibration and thermal vacuum on the ground. The test results show that the developed sensor has the ability to accurately measure three-dimensional force and three-dimensional moment information on orbit, which provides necessary conditions for the on-orbit fine operation of EMM. |
| first_indexed | 2024-03-10T03:40:00Z |
| format | Article |
| id | doaj.art-5acfa9c0077b48f691e31f59cdeabad7 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:40:00Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5acfa9c0077b48f691e31f59cdeabad72023-11-23T09:20:55ZengMDPI AGSensors1424-82202022-05-01229360310.3390/s22093603Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module ManipulatorYongjun Sun0State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaA novel six-axis force/torque sensor (F/T sensor) for an Experimental Module Manipulator (EMM) in the Chinese Space Station (CSS) is developed in this paper. First, we designed the elastomer structure of the F/T sensor and used the analytical method and the finite element method to analyze the strain, in order to accomplish the strain gauges’ layout. Then, the electrical system was designed, which mainly realizes the acquisition of force/torque information, temperature and serial communication with the end effector (EE). Following this, we analyzed and designed the adaptability of the F/T sensor to the space environment. After this, the manufacturing process of the sensor was introduced in detail, and the F/T sensor was calibrated by a pulley weight system. Finally, the sensor was tested on the space environment adaptability of mechanical vibration and thermal vacuum on the ground. The test results show that the developed sensor has the ability to accurately measure three-dimensional force and three-dimensional moment information on orbit, which provides necessary conditions for the on-orbit fine operation of EMM.https://www.mdpi.com/1424-8220/22/9/3603space manipulatorsix-axis force/torque sensordesignmanufacturetestexperiment |
| spellingShingle | Yongjun Sun Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module Manipulator Sensors space manipulator six-axis force/torque sensor design manufacture test experiment |
| title | Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module Manipulator |
| title_full | Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module Manipulator |
| title_fullStr | Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module Manipulator |
| title_full_unstemmed | Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module Manipulator |
| title_short | Design, Manufacture, Test and Experiment of Six-Axis Force Torque Sensor for Chinese Experimental Module Manipulator |
| title_sort | design manufacture test and experiment of six axis force torque sensor for chinese experimental module manipulator |
| topic | space manipulator six-axis force/torque sensor design manufacture test experiment |
| url | https://www.mdpi.com/1424-8220/22/9/3603 |
| work_keys_str_mv | AT yongjunsun designmanufacturetestandexperimentofsixaxisforcetorquesensorforchineseexperimentalmodulemanipulator |