Matich, Sebastian ; Hessinger, Markus ; Kupnik, Mario ; Werthschützky, Roland ; Hatzfeld, Christian (2017)
Miniaturized multiaxial force/torque sensor with a rollable hexapod structure.
In: tm - Technisches Messen, 84
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
Miniaturized force/torque sensors are relevant components for robotic interaction with humans and unknown environments. This paper presents a disruptive manufacturing process for multiaxial force/torque sensors based on a Stewart-Gough platform. The deformation element consists of a hexapod geometry with six sensing elements with a total diameter of 9 mm. The sensor manufacturing process is divided into three steps: 1. Milling a planar arrangement of sensing elements out of a 2mm steel (1.4301) plate, 2. applying twelve strain gauges in half-bridge configuration and 3. rolling the elements into a hexapod structure. The dimensions of the sensing elements are scalable to adjust the size and nominal measurement range of the sensor. The first prototype has a measuring range of 4N and 66mNm. The characterization of the sensor shows a maximal linearity and hysteresis error of 1.16% and a cross-sensitivity smaller than 2.76 %.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2017 |
| Autor(en): | Matich, Sebastian ; Hessinger, Markus ; Kupnik, Mario ; Werthschützky, Roland ; Hatzfeld, Christian |
| Art des Eintrags: | Bibliographie |
| Titel: | Miniaturized multiaxial force/torque sensor with a rollable hexapod structure |
| Sprache: | Englisch |
| Publikationsjahr: | 2017 |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | tm - Technisches Messen |
| Jahrgang/Volume einer Zeitschrift: | 84 |
| URL / URN: | https://www.degruyter.com/view/j/teme.2017.84.issue-s1/teme-... |
| Kurzbeschreibung (Abstract): | Miniaturized force/torque sensors are relevant components for robotic interaction with humans and unknown environments. This paper presents a disruptive manufacturing process for multiaxial force/torque sensors based on a Stewart-Gough platform. The deformation element consists of a hexapod geometry with six sensing elements with a total diameter of 9 mm. The sensor manufacturing process is divided into three steps: 1. Milling a planar arrangement of sensing elements out of a 2mm steel (1.4301) plate, 2. applying twelve strain gauges in half-bridge configuration and 3. rolling the elements into a hexapod structure. The dimensions of the sensing elements are scalable to adjust the size and nominal measurement range of the sensor. The first prototype has a measuring range of 4N and 66mNm. The characterization of the sensor shows a maximal linearity and hysteresis error of 1.16% and a cross-sensitivity smaller than 2.76 %. |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Elektromechanische Konstruktionen (aufgelöst 18.12.2018) 18 Fachbereich Elektrotechnik und Informationstechnik > Mikrotechnik und Elektromechanische Systeme 18 Fachbereich Elektrotechnik und Informationstechnik > Mess- und Sensortechnik 18 Fachbereich Elektrotechnik und Informationstechnik |
| Hinterlegungsdatum: | 09 Okt 2017 12:53 |
| Letzte Änderung: | 09 Okt 2017 12:53 |
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