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Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

Matich, Sebastian and Hessinger, Markus and Kupnik, Mario and Werthschützky, Roland and Hatzfeld, Christian (2017):
Miniaturized multiaxial force/torque sensor with a rollable hexapod structure.
84, In: tm - Technisches Messen, p. 138, ISSN 01718096, [Online-Edition: https://www.degruyter.com/view/j/teme.2017.84.issue-s1/teme-...],
[Article]

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 %.

Item Type: Article
Erschienen: 2017
Creators: Matich, Sebastian and Hessinger, Markus and Kupnik, Mario and Werthschützky, Roland and Hatzfeld, Christian
Title: Miniaturized multiaxial force/torque sensor with a rollable hexapod structure
Language: English
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 %.

Journal or Publication Title: tm - Technisches Messen
Volume: 84
Divisions: 18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Microtechnology and Electromechanical Systems
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
18 Department of Electrical Engineering and Information Technology
Date Deposited: 09 Oct 2017 12:53
Official URL: https://www.degruyter.com/view/j/teme.2017.84.issue-s1/teme-...
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