Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor
In this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/2/395 |
| _version_ | 1798000008927117312 |
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| author | Chyi-Yeu Lin Anton Royanto Ahmad Getnet Ayele Kebede |
| author_facet | Chyi-Yeu Lin Anton Royanto Ahmad Getnet Ayele Kebede |
| author_sort | Chyi-Yeu Lin |
| collection | DOAJ |
| description | In this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by minimized structural interconnection. The forces <i>F<sub>x</sub></i>, <i>F<sub>y</sub></i>, and <i>F<sub>z</sub></i> and moments <i>M<sub>x</sub></i>, <i>M<sub>y</sub></i>, and <i>M<sub>z</sub></i> can be measured for the six-axis F/M sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum cross-talk errors along the following six axes under different loadings (the errors are presented in parentheses): <i>F<sub>x</sub></i> under <i>SM<sub>y</sub></i> (2.12%), <i>F<sub>y</sub></i> under <i>SM<sub>x</sub></i> (1.88%), <i>F<sub>z</sub></i> under <i>SM<sub>z</sub></i> (2.02%), <i>M<sub>x</sub></i> under <i>SF<sub>z</sub></i> (1.15%), <i>M<sub>y</sub></i> under <i>SF<sub>x</sub></i> (1.80%), and <i>M<sub>z</sub></i> under <i>SF<sub>x</sub></i> (2.63%). The proposed sensor demonstrated a considerably improved cross-talk error performance compared with existing force sensors. |
| first_indexed | 2024-04-11T11:13:26Z |
| format | Article |
| id | doaj.art-ec83d1cfc96c4619b93f9122ff87d42d |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T11:13:26Z |
| publishDate | 2020-01-01 |
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| series | Sensors |
| spelling | doaj.art-ec83d1cfc96c4619b93f9122ff87d42d2022-12-22T04:27:19ZengMDPI AGSensors1424-82202020-01-0120239510.3390/s20020395s20020395Novel Mechanically Fully Decoupled Six-Axis Force-Moment SensorChyi-Yeu Lin0Anton Royanto Ahmad1Getnet Ayele Kebede2Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanIn this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by minimized structural interconnection. The forces <i>F<sub>x</sub></i>, <i>F<sub>y</sub></i>, and <i>F<sub>z</sub></i> and moments <i>M<sub>x</sub></i>, <i>M<sub>y</sub></i>, and <i>M<sub>z</sub></i> can be measured for the six-axis F/M sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum cross-talk errors along the following six axes under different loadings (the errors are presented in parentheses): <i>F<sub>x</sub></i> under <i>SM<sub>y</sub></i> (2.12%), <i>F<sub>y</sub></i> under <i>SM<sub>x</sub></i> (1.88%), <i>F<sub>z</sub></i> under <i>SM<sub>z</sub></i> (2.02%), <i>M<sub>x</sub></i> under <i>SF<sub>z</sub></i> (1.15%), <i>M<sub>y</sub></i> under <i>SF<sub>x</sub></i> (1.80%), and <i>M<sub>z</sub></i> under <i>SF<sub>x</sub></i> (2.63%). The proposed sensor demonstrated a considerably improved cross-talk error performance compared with existing force sensors.https://www.mdpi.com/1424-8220/20/2/395cross beamcross-talkmechanical decouplingsix-axis force/moment sensorstrain gauges |
| spellingShingle | Chyi-Yeu Lin Anton Royanto Ahmad Getnet Ayele Kebede Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor Sensors cross beam cross-talk mechanical decoupling six-axis force/moment sensor strain gauges |
| title | Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor |
| title_full | Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor |
| title_fullStr | Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor |
| title_full_unstemmed | Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor |
| title_short | Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor |
| title_sort | novel mechanically fully decoupled six axis force moment sensor |
| topic | cross beam cross-talk mechanical decoupling six-axis force/moment sensor strain gauges |
| url | https://www.mdpi.com/1424-8220/20/2/395 |
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