Abstract
Strain distributions are crucial criteria of cross-beams six-axis force/torque sensors. The conventional method for calculating the criteria is to utilize Finite Element Analysis (FEA) to get numerical solutions. This paper aims to obtain analytical solutions of strains under the effect of external force/torque in each dimension. Genetic mechanical models for cross-beams six-axis force/torque sensors are proposed, in which deformable cross elastic beams and compliant beams are modeled as quasi-static Timoshenko beam. A detailed description of model assumptions, model idealizations, application scope and model establishment is presented. The results are validated by both numerical FEA simulations and calibration experiments, and test results are found to be compatible with each other for a wide range of geometric properties. The proposed analytical solutions are demonstrated to be an accurate estimation algorithm with higher efficiency.
Highlights
Cross-beams six-axis force/torque sensors are typical six-axis force/torque sensors used in various branches of engineering, especially in robotic manipulators, for their compactness, simplicity and low interference errors
The analytical solutions proposed in the previous section are validated against the Finite Element Analysis (FEA) simulation results by four different cross-beams elastic bodies with various geometric dimensions
This paper proposes analytical solutions for fast estimating strain distributions of cross-beams six-axis force/torque sensors by means of mechanical modeling
Summary
Cross-beams six-axis force/torque sensors are typical six-axis force/torque sensors used in various branches of engineering, especially in robotic manipulators, for their compactness, simplicity and low interference errors. A six-axis force/torque sensor is usually mounted between the distal end of a robot arm and an end-effector to measure the interaction Cartesian forces and torques (Fx , Fy , Fz and Mx , My , Mz ) between the robot arm and the environment [1,2,3]. The cross-beams elastic body (elastic body) is the key component of a six-axis force/torque sensor. The brief measuring principle of cross-beams six-axis force sensors can be described as follows. Strain gauges are pasted firmly on surfaces of cross elastic beams in order to detect deformations and convert variations of strains to variations of electric resistances. Changes of electric resistances are converted into six-dimensional output voltages by Wheatstone bridges [4,5,6,7]
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
