Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor
The measurement of large forces and the presence of errors due to dimensional coupling are significant challenges for multi-dimensional force sensors. To address these challenges, this paper proposes an over-constrained six-dimensional force sensor based on a parallel mechanism of steel ball structu...
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-08-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/17/9/1985 |
| _version_ | 1798040304683581440 |
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| author | Zhi Niu Tieshi Zhao Yanzhi Zhao Qiangqiang Hu Shixing Ding |
| author_facet | Zhi Niu Tieshi Zhao Yanzhi Zhao Qiangqiang Hu Shixing Ding |
| author_sort | Zhi Niu |
| collection | DOAJ |
| description | The measurement of large forces and the presence of errors due to dimensional coupling are significant challenges for multi-dimensional force sensors. To address these challenges, this paper proposes an over-constrained six-dimensional force sensor based on a parallel mechanism of steel ball structures as a measurement module. The steel ball structure can be subject to rolling friction instead of sliding friction, thus reducing the influence of friction. However, because the structure can only withstand unidirectional pressure, the application of steel balls in a six-dimensional force sensor is difficult. Accordingly, a new design of the sensor measurement structure was designed in this study. The static equilibrium and displacement compatibility equations of the sensor prototype’s over-constrained structure were established to obtain the transformation function, from which the forces in the measurement branches of the proposed sensor were then analytically derived. The sensor’s measurement characteristics were then analysed through numerical examples. Finally, these measurement characteristics were confirmed through calibration and application experiments. The measurement accuracy of the proposed sensor was determined to be 1.28%, with a maximum coupling error of 1.98%, indicating that the proposed sensor successfully overcomes the issues related to steel ball structures and provides sufficient accuracy. |
| first_indexed | 2024-04-11T22:05:46Z |
| format | Article |
| id | doaj.art-fe13b24d94144743baecfc59314c16b9 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T22:05:46Z |
| publishDate | 2017-08-01 |
| publisher | MDPI AG |
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| series | Sensors |
| spelling | doaj.art-fe13b24d94144743baecfc59314c16b92022-12-22T04:00:43ZengMDPI AGSensors1424-82202017-08-01179198510.3390/s17091985s17091985Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force SensorZhi Niu0Tieshi Zhao1Yanzhi Zhao2Qiangqiang Hu3Shixing Ding4Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaThe measurement of large forces and the presence of errors due to dimensional coupling are significant challenges for multi-dimensional force sensors. To address these challenges, this paper proposes an over-constrained six-dimensional force sensor based on a parallel mechanism of steel ball structures as a measurement module. The steel ball structure can be subject to rolling friction instead of sliding friction, thus reducing the influence of friction. However, because the structure can only withstand unidirectional pressure, the application of steel balls in a six-dimensional force sensor is difficult. Accordingly, a new design of the sensor measurement structure was designed in this study. The static equilibrium and displacement compatibility equations of the sensor prototype’s over-constrained structure were established to obtain the transformation function, from which the forces in the measurement branches of the proposed sensor were then analytically derived. The sensor’s measurement characteristics were then analysed through numerical examples. Finally, these measurement characteristics were confirmed through calibration and application experiments. The measurement accuracy of the proposed sensor was determined to be 1.28%, with a maximum coupling error of 1.98%, indicating that the proposed sensor successfully overcomes the issues related to steel ball structures and provides sufficient accuracy.https://www.mdpi.com/1424-8220/17/9/1985force sensingload decouplingsteel ball structureover-constrained sensorssix-dimensional sensorsparallel mechanism |
| spellingShingle | Zhi Niu Tieshi Zhao Yanzhi Zhao Qiangqiang Hu Shixing Ding Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor Sensors force sensing load decoupling steel ball structure over-constrained sensors six-dimensional sensors parallel mechanism |
| title | Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor |
| title_full | Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor |
| title_fullStr | Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor |
| title_full_unstemmed | Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor |
| title_short | Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor |
| title_sort | design and analysis of the measurement characteristics of a bidirectional decoupling over constrained six dimensional parallel mechanism force sensor |
| topic | force sensing load decoupling steel ball structure over-constrained sensors six-dimensional sensors parallel mechanism |
| url | https://www.mdpi.com/1424-8220/17/9/1985 |
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