Abstract
To measure large external forces exerted on a loading platform, a novel three-dimensional force sensor is developed in this paper. The proposed sensor was designed with a parallel mechanism with three degrees of freedom. Kinematic analysis of this sensor was performed. Due to its structural characteristics, the working principle of the sensor was analyzed using a Jacobian matrix. The sensitivity diversity index and measuring capability were both calculated. The analysis showed that the proposed sensor is more suitable for measuring large forces than existing strain sensors. In addition, compared with existing strain sensors, this sensor is more suitable for measuring forces along the x and y axes. By changing the stiffness coefficients of the springs, the proposed sensor has reconfigurability. This sensor can change its measuring capability to meet different requirements. Next, the mode shapes and natural frequencies of the proposed sensor were performed. Finally, based on these performance indices, the design variables were optimized using a Multi-Objective Genetic Algorithm.
Highlights
Force measurement is a critical requirement in many fields [1], including intelligent control [2], medical operations [3,4], and rehabilitation appliances [5,6]
Multi-Objective (MOGA), theset optimized set was as setm,tob,0.9, and the practical mutationapplication, probabilitythe was set as 0.05
The results of the sensitivity diversity index and measuring capability showed that the sensor has a greater performance along the x and y axes than the z-axis
Summary
Force measurement is a critical requirement in many fields [1], including intelligent control [2], medical operations [3,4], and rehabilitation appliances [5,6]. Based on a flexible joint 6-UPUR parallel six-axis force sensor, the authors performed assembly and deformation error modeling and analyzed the large measurement range and high accuracy of the resulting sensors. Based on a six-DOF compliant parallel mechanism, Liang et al [14] developed a micro-scale sensor with high precision that could provide real-time force information for feedback control. Sun et al [21,22] proposed a novel six-axis force and torque sensor for a space robot; response surface methodology was used to determine the optimum dimensional parameters. To improve the performance of the parallel six-axis force sensor with a Stewart platform, Zhao et al [23] developed the nonlinear single objective and multi-objective algorithm. The loading force can only move along the three axes and the proposed sensor can measure large forces.
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