Optimal design of a mechanically decoupled six-axis force/torque sensor based on the principal cross coupling minimization

Min Kyung Kang, Soobum Lee, Jung Hoon Kim

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

3 Citations (Scopus)

Abstract

This paper proposes design optimization of a mechanically decoupled six-axis F/T sensor. In order to indicate the biggest cross coupling error of a Maltese cross type F/T six-axis sensor, principal error is proposed in this paper. Locations of twenty-four strain gages are determined and four design variables are selected to solve optimization problem. The average of principal couplings and output strain levels are chosen as the objective function and the constraints respectively. An effective optimization framework is suggested, which utilizes interaction between FEM software ANSYS and MATLAB by using morphing technique. As a result of optimization, the biggest coupling error is reduced from about 35% to 2.5%, which is satisfactory for use of mechanically decoupled six-axis F/T sensors. Experimental verification is conducted and it is shown that there is maximum 5.1 % difference in strain outputs of numerical and experimental results, which verifies the validity of suggested FE model. The design formulation and framework proposed in this study are expected to promote researches on multi-axis F/T sensors and their commercialization in various industries.

Original languageEnglish
Title of host publicationSensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014
PublisherSPIE
ISBN (Print)9780819499875
DOIs
Publication statusPublished - 2014 Jan 1
EventSensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014 - San Diego, CA, United States
Duration: 2014 Mar 102014 Mar 13

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume9061
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X

Other

OtherSensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014
CountryUnited States
CitySan Diego, CA
Period14/3/1014/3/13

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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    Kang, M. K., Lee, S., & Kim, J. H. (2014). Optimal design of a mechanically decoupled six-axis force/torque sensor based on the principal cross coupling minimization. In Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014 [90612N] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 9061). SPIE. https://doi.org/10.1117/12.2044744