Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Structure of Four-Axis Force/Torque Sensor with Parallel Step Plate Beams

4축 힘/토크 센서의 구조 설계

  • Lee, Kyung-Jun (Department of Control and Instrumentation Engineering, Gyeongsang National University) ;
  • Kim, Gab-Soon (Department of Control and Instrumentation Engineering, Gyeongsang National University)
  • 이경준 (경상대학교 제어계측공학과, ERI) ;
  • 김갑순 (경상대학교 제어계측공학과, ERI)
  • Received : 2014.07.16
  • Accepted : 2014.10.06
  • Published : 2014.11.01
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Abstract

This paper describes the design of a four-axis force/torque sensor with PSPBs (Parallel Step Plate Beams). The sensor is composed of eight PSPBs, a force/torque transmitting block, and fixing blocks. It is designed by using the FEM(Finite Element Method), and fabricated by using strain gages. The characteristic tests of the sensor are carried out, and the interference error, repeatability error, and non-linearity error are less than 2.21%, 0.03% and 0.03%. Furthermore, the structure of the four-axis force/torque sensor with PSPBs has a larger rated capacity than that of the four-axis force/torque sensor with PPBs under the same overall sensor size and the same rated output. It is thought that the developed four-axis force/torque sensor with PSPBs can be used for measuring the forces and torques in an intelligent robot, automation devices, etc.

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References

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