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

doi:10.1117/12.2044744

8 March 2014 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

Author Affiliations +

Proceedings Volume 9061, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014; 90612N (2014) https://doi.org/10.1117/12.2044744
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2014, San Diego, California, United States

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.

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Min-Kyung Kang, Soobum Lee, and Jung-Hoon Kim "Optimal design of a mechanically decoupled six-axis force/torque sensor based on the principal cross coupling minimization", Proc. SPIE 9061, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2014, 90612N (8 March 2014); https://doi.org/10.1117/12.2044744

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