Mathematical approach to the optimal structural design of a robot force sensor

Masaru Uchiyama, E. Bayo, E. Palma-Villalon

    Research output: Contribution to conferencePaper

    7 Citations (Scopus)

    Abstract

    The structural design is important since the force sensor detects forces and moments through the measurement of strains at specific points of the sensor body. The process of force and moment measurement is analyzed first from the structural viewpoint and a performance index of the force sensor is introduced. It is demonstrated that the minimization of this index (the condition number of the strain compliance matrix) renders an optimal force sensor design. It is proposed that the finite element method be used in the design process to search for the sensor dimensions that yield the minimum index. A systematic procedure for robot calibration is also presented. As an example, a force sensor of the Maltese cross bar type is constructed, and analyzed numerically and experimentally.

    Original languageEnglish
    Pages539-546
    Number of pages8
    Publication statusPublished - 1988 Dec 1
    EventProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
    Duration: 1988 Jul 181988 Jul 20

    Other

    OtherProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
    CityMinneapolis, MN, USA
    Period88/7/1888/7/20

    ASJC Scopus subject areas

    • Engineering(all)

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  • Cite this

    Uchiyama, M., Bayo, E., & Palma-Villalon, E. (1988). Mathematical approach to the optimal structural design of a robot force sensor. 539-546. Paper presented at Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics, Minneapolis, MN, USA, .