Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams

Qiaokang Liang; Dan Zhang; Quanjun Song; Yunjian Ge; Huibin Cao; Yu Ge

doi:10.1016/j.measurement.2010.09.010

Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams

Qiaokang Liang, Dan Zhang, Quanjun Song, Yunjian Ge, Huibin Cao, Yu Ge

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

114 Citations (Scopus)

Abstract

This paper presents a novel device for measuring components of forces and moments along and about three orthogonal axes based on E-type membranes compared to conventional sensor based on cross beams. After design and analysis of both types of sensors, we chose to fabricate a six-dimensional wrist force/torque sensor based on E-type membranes. Furthermore, the calibration and decoupling based on Neural Network method were performed, and the sensor possesses excellent characteristics such as high measurement sensitivity, overload protection, good linearity, and weak couplings between components. Finally, its maximum interference error and nonlinearity error are 1.6% F.S. and 0.17% F.S., respectively.

Original language	English
Pages (from-to)	1702-1719
Number of pages	18
Journal	Measurement: Journal of the International Measurement Confederation
Volume	43
Issue number	10
DOIs	https://doi.org/10.1016/j.measurement.2010.09.010
Publication status	Published - Dec 2010
Externally published	Yes

Keywords

E-type membrane
Force-sensing element
Force/torque sensor
Six-dimensional

ASJC Scopus subject areas

Instrumentation
Electrical and Electronic Engineering

More information

10.1016/j.measurement.2010.09.010

Cite this

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title = "Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams",

abstract = "This paper presents a novel device for measuring components of forces and moments along and about three orthogonal axes based on E-type membranes compared to conventional sensor based on cross beams. After design and analysis of both types of sensors, we chose to fabricate a six-dimensional wrist force/torque sensor based on E-type membranes. Furthermore, the calibration and decoupling based on Neural Network method were performed, and the sensor possesses excellent characteristics such as high measurement sensitivity, overload protection, good linearity, and weak couplings between components. Finally, its maximum interference error and nonlinearity error are 1.6% F.S. and 0.17% F.S., respectively.",

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author = "Qiaokang Liang and Dan Zhang and Quanjun Song and Yunjian Ge and Huibin Cao and Yu Ge",

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Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams. / Liang, Qiaokang; Zhang, Dan; Song, Quanjun et al.
In: Measurement: Journal of the International Measurement Confederation, Vol. 43, No. 10, 12.2010, p. 1702-1719.

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

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AU - Liang, Qiaokang

AU - Zhang, Dan

AU - Song, Quanjun

AU - Ge, Yunjian

AU - Cao, Huibin

AU - Ge, Yu

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KW - E-type membrane

KW - Force-sensing element

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KW - Six-dimensional

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Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams

Abstract

Keywords

ASJC Scopus subject areas

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