Task-oriented design of a fully pre-stressed double-layer six-component force/torque sensor

Hang Wang; Yulei Hou; Jiantao Yao; Zhijun Wang; Yongsheng Zhao

doi:10.1117/12.885562

31 December 2010 Task-oriented design of a fully pre-stressed double-layer six-component force/torque sensor

Hang Wang, Yulei Hou, Jiantao Yao, Zhijun Wang, Yongsheng Zhao

Proceedings Volume 7544, Sixth International Symposium on Precision Engineering Measurements and Instrumentation; 75442Y (2010) https://doi.org/10.1117/12.885562
Event: Sixth International Symposium on Precision Engineering Measurements and Instrumentation, 2010, Hangzhou, China

Abstract

This paper presents a method to study and design a fully pre-stressed double-layer six-component force/torque sensor. The structure characteristic of the fully pre-stressed sensor is analyzed. In order to achieve the best performance, the static mathematical model is built by using screw theory. Based on the task ellipsoid, the task model of the pre-stressed force sensor is built. The relationship between the sensor and the task is studied systematically. And the mathematic description of task-oriented performance evaluation of the fully pre-stressed sensor is proposed. The key parameters of the fully pre-stressed force sensor satisfying the purpose of the task are obtained. The research results of this paper are useful for the further research and practical application of the six-component force sensor.

Citation Download Citation

Hang Wang, Yulei Hou, Jiantao Yao, Zhijun Wang, and Yongsheng Zhao "Task-oriented design of a fully pre-stressed double-layer six-component force/torque sensor", Proc. SPIE 7544, Sixth International Symposium on Precision Engineering Measurements and Instrumentation, 75442Y (31 December 2010); https://doi.org/10.1117/12.885562

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