Design and analysis of a miniature 4-dimensional force/torque sensor

Qiaokang Liang; Dan Zhang; Yaonan Wang; Yunjian Ge

doi:10.1109/ROBIO.2012.6490958

Design and analysis of a miniature 4-dimensional force/torque sensor

Qiaokang Liang, Dan Zhang, Yaonan Wang, Yunjian Ge

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

Abstract

This paper describes the design of a 4-dimensional fingertip F/T sensor that measures normal force f_z, both tangential force terms f _x, f_y, and the torque about the normal axis M_z simultaneously, which are of vital importance for the gripper to grasp or hold any object. The Elastic Element (EE) structure featured with an annular diagram and flexible beams, and its static and dynamic performances are involved via ANSYS. At last, the arrangement and attachment strategies of strain gauges are planned. The proposed sensor possesses advantages such as simple and miniature configuration, high sensitivity, and isotropy. Finally, the experiment of the proposed sensor was conducted and validated.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	148-153
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6490958
Publication status	Published - 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

ASJC Scopus subject areas

Artificial Intelligence
Biotechnology

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10.1109/ROBIO.2012.6490958

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Liang, Q., Zhang, D., Wang, Y., & Ge, Y. (2012). Design and analysis of a miniature 4-dimensional force/torque sensor. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 148-153). Article 6490958 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6490958

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title = "Design and analysis of a miniature 4-dimensional force/torque sensor",

abstract = "This paper describes the design of a 4-dimensional fingertip F/T sensor that measures normal force fz, both tangential force terms f x, fy, and the torque about the normal axis Mz simultaneously, which are of vital importance for the gripper to grasp or hold any object. The Elastic Element (EE) structure featured with an annular diagram and flexible beams, and its static and dynamic performances are involved via ANSYS. At last, the arrangement and attachment strategies of strain gauges are planned. The proposed sensor possesses advantages such as simple and miniature configuration, high sensitivity, and isotropy. Finally, the experiment of the proposed sensor was conducted and validated.",

author = "Qiaokang Liang and Dan Zhang and Yaonan Wang and Yunjian Ge",

year = "2012",

doi = "10.1109/ROBIO.2012.6490958",

language = "English",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "148--153",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Liang, Q, Zhang, D, Wang, Y & Ge, Y 2012, Design and analysis of a miniature 4-dimensional force/torque sensor. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6490958, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 148-153, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6490958

Design and analysis of a miniature 4-dimensional force/torque sensor. / Liang, Qiaokang; Zhang, Dan; Wang, Yaonan et al.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 148-153 6490958 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

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

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AB - This paper describes the design of a 4-dimensional fingertip F/T sensor that measures normal force fz, both tangential force terms f x, fy, and the torque about the normal axis Mz simultaneously, which are of vital importance for the gripper to grasp or hold any object. The Elastic Element (EE) structure featured with an annular diagram and flexible beams, and its static and dynamic performances are involved via ANSYS. At last, the arrangement and attachment strategies of strain gauges are planned. The proposed sensor possesses advantages such as simple and miniature configuration, high sensitivity, and isotropy. Finally, the experiment of the proposed sensor was conducted and validated.

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Design and analysis of a miniature 4-dimensional force/torque sensor

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