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.
|出版ステータス||Published - 1988 12 1|
|イベント||Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA|
継続期間: 1988 7 18 → 1988 7 20
|Other||Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics|
|City||Minneapolis, MN, USA|
|Period||88/7/18 → 88/7/20|
ASJC Scopus subject areas