Design and analysis of a novel six-component F/T sensor based on CPM for passive compliant assembly

Qiaokang Liang; Dan Zhang; Yaonan Wang; Yunjian Ge

doi:10.2478/msr-2013-0038

Design and analysis of a novel six-component F/T sensor based on CPM for passive compliant assembly

Qiaokang Liang, Dan Zhang, Yaonan Wang, Yunjian Ge

Research output: Journal article publication › Journal article › Academic research › peer-review

15 Citations (Scopus)

Abstract

This paper presents the design and analysis of a six-component Force/Torque (F/T) sensor whose design is based on the mechanism of the Compliant Parallel Mechanism (CPM). The force sensor is used to measure forces along the x-, y-, and z-axis (F_x, F_y and F_z) and moments about the x-, y-, and z-axis (M_x, M_y and M_z) simultaneously and to provide passive compliance during parts handling and assembly. Particularly, the structural design, the details of the measuring principle and the kinematics are presented. Afterwards, based on the Design of Experiments (DOE) approach provided by the software ANSYS®, a Finite Element Analysis (FEA) is performed. This analysis is performed with the objective of achieving both high sensitivity and isotropy of the sensor. The results of FEA show that the proposed sensor possesses high performance and robustness.

Original language	English
Pages (from-to)	253-264
Number of pages	12
Journal	Measurement Science Review
Volume	13
Issue number	5
DOIs	https://doi.org/10.2478/msr-2013-0038
Publication status	Published - Oct 2013
Externally published	Yes

Keywords

Compliant parallel mechanism
Passive compliant assembly
Six-component F/T sensor

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Instrumentation

More information

10.2478/msr-2013-0038

Cite this

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Design and analysis of a novel six-component F/T sensor based on CPM for passive compliant assembly

Abstract

Keywords

ASJC Scopus subject areas

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