Analytical models for designing force sensors

M. M. Svinin, M. Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    7 Citations (Scopus)

    Abstract

    This paper presents a systematic analysis of force sensors at the design stage. A generalized model of the sensors is developed on the basis of static and kinematic equations, and the block form of the resulting strain compliance matrix of the sensor is obtained. The model developed is then applied to the analysis of the two and three-dimensional sensor schemes corresponding to the regular polygons and polyhedrons. The condition number of the normalized strain compliance matrix of the sensor is used as the performance index. Impossibility of reaching the optimal values of this criterion is stated for the regular-polygon-form-based sensors. Partial solutions of the optimization problem are found out for the regular-polyhedron-form-based sensors. The presentation of the material is illustrated by analytical examples.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherPubl by IEEE
    Pages1778-1783
    Number of pages6
    Editionpt 2
    ISBN (Print)0818653329
    Publication statusPublished - 1994 Jan 1
    EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
    Duration: 1994 May 81994 May 13

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    Numberpt 2
    ISSN (Print)1050-4729

    Other

    OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
    CitySan Diego, CA, USA
    Period94/5/894/5/13

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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