A novel thin six-dimensional wrist force/moment sensor for underwater manipulators

Qiaokang Liang; Dan Zhang; Zhongzhe Chi; Quanjun Song; Yunjian Ge

A novel thin six-dimensional wrist force/moment sensor for underwater manipulators

Qiaokang Liang, Dan Zhang, Zhongzhe Chi, Quanjun Song, Yunjian Ge

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

Unlike the sensor applied on the ground, the sensors for underwater application have to endure the high-pressure, low-temperature and corrosive environment. To measure the multidimensional interactive force/moment between underwater manipulators and the griping objects, novel modeling force/moment sensor with mentioned consideration is needed. In this paper, a new six-dimensional force/moment sensor, which detects forces Fx, Fy and Fz, and moments Mx, My and Mz, simultaneously, is designed, fabricated and tested. The theoretical analysis and fabrication procedure of the proposed sensor are included in this paper, and calibration test experiment results demonstrate the design could detect force/moment with good linearity, high sensitivity.

Original language	English
Title of host publication	Transactions of the North American Manufacturing Research Institution of SME 2010, NAMRI/SME
Publisher	Society of Manufacturing Engineers
Pages	703-710
Number of pages	8
ISBN (Print)	0872638685, 9780872638686
Publication status	Published - 2010
Externally published	Yes

Publication series

Name	Transactions of the North American Manufacturing Research Institution of SME
Volume	38
ISSN (Print)	1047-3025

Keywords

Electric measurement technique of strain gauge
FEA
Force sensor
Underwater manipulator

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering

Cite this

Liang, Q., Zhang, D., Chi, Z., Song, Q., & Ge, Y. (2010). A novel thin six-dimensional wrist force/moment sensor for underwater manipulators. In Transactions of the North American Manufacturing Research Institution of SME 2010, NAMRI/SME (pp. 703-710). (Transactions of the North American Manufacturing Research Institution of SME; Vol. 38). Society of Manufacturing Engineers.

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title = "A novel thin six-dimensional wrist force/moment sensor for underwater manipulators",

abstract = "Unlike the sensor applied on the ground, the sensors for underwater application have to endure the high-pressure, low-temperature and corrosive environment. To measure the multidimensional interactive force/moment between underwater manipulators and the griping objects, novel modeling force/moment sensor with mentioned consideration is needed. In this paper, a new six-dimensional force/moment sensor, which detects forces Fx, Fy and Fz, and moments Mx, My and Mz, simultaneously, is designed, fabricated and tested. The theoretical analysis and fabrication procedure of the proposed sensor are included in this paper, and calibration test experiment results demonstrate the design could detect force/moment with good linearity, high sensitivity.",

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A novel thin six-dimensional wrist force/moment sensor for underwater manipulators. / Liang, Qiaokang; Zhang, Dan; Chi, Zhongzhe et al.
Transactions of the North American Manufacturing Research Institution of SME 2010, NAMRI/SME. Society of Manufacturing Engineers, 2010. p. 703-710 (Transactions of the North American Manufacturing Research Institution of SME; Vol. 38).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - A novel thin six-dimensional wrist force/moment sensor for underwater manipulators

AU - Liang, Qiaokang

AU - Zhang, Dan

AU - Chi, Zhongzhe

AU - Song, Quanjun

AU - Ge, Yunjian

PY - 2010

Y1 - 2010

N2 - Unlike the sensor applied on the ground, the sensors for underwater application have to endure the high-pressure, low-temperature and corrosive environment. To measure the multidimensional interactive force/moment between underwater manipulators and the griping objects, novel modeling force/moment sensor with mentioned consideration is needed. In this paper, a new six-dimensional force/moment sensor, which detects forces Fx, Fy and Fz, and moments Mx, My and Mz, simultaneously, is designed, fabricated and tested. The theoretical analysis and fabrication procedure of the proposed sensor are included in this paper, and calibration test experiment results demonstrate the design could detect force/moment with good linearity, high sensitivity.

AB - Unlike the sensor applied on the ground, the sensors for underwater application have to endure the high-pressure, low-temperature and corrosive environment. To measure the multidimensional interactive force/moment between underwater manipulators and the griping objects, novel modeling force/moment sensor with mentioned consideration is needed. In this paper, a new six-dimensional force/moment sensor, which detects forces Fx, Fy and Fz, and moments Mx, My and Mz, simultaneously, is designed, fabricated and tested. The theoretical analysis and fabrication procedure of the proposed sensor are included in this paper, and calibration test experiment results demonstrate the design could detect force/moment with good linearity, high sensitivity.

KW - Electric measurement technique of strain gauge

KW - FEA

KW - Force sensor

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BT - Transactions of the North American Manufacturing Research Institution of SME 2010, NAMRI/SME

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ER -

A novel thin six-dimensional wrist force/moment sensor for underwater manipulators

Abstract

Publication series

Keywords

ASJC Scopus subject areas

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