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Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

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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