UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

A2-piece six-axis force/torque sensor capable of measuring loads applied to tools of complex shapes

Noh, Y; Lindenroth, L; Wang, S; Housden, RJ; Wingerden, ASV; Li, W; Rhode, K; (2020) A2-piece six-axis force/torque sensor capable of measuring loads applied to tools of complex shapes. In: Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 7976-7981). IEEE: Macau, China. Green open access

[thumbnail of FullText.pdf]
Preview
Text
FullText.pdf - Accepted Version

Download (1MB) | Preview

Abstract

Measuring forces and torques applied to tools of unconventional shapes can be challenging due to difficulties in connecting commercially available force/torque sensors. We propose an innovative, customizable six-axis force/torque sensor which can be clamped around a tool or end-effector to minimize the proximity between tool tip and sensor structure. The sensor is fabricated using 3d printing technology and consists of two pieces which together form an 8-legged Stewart platform. Each leg is designed as a cantilever beam to allow for a measurable displacement under an external load. The displacements of the legs are measured with 8 light intensity-based optoelectronic sensors, which exhibit high sensitivities and low noise levels without the need for external amplification circuitry. A customized printed circuit board and peripheral hardware are proposed to allow for efficient analog-to-digital conversion of the force/torque measurement. A calibration process is proposed which makes use ofa commercial ATI Mini40 sensor and custom hardware to allow for fast calibration routines. Finally, the calibrated sensor design is compared to the ATI Mini40 sensor by measuring sequences of forces and torques, and the maximum errors of force/torque components (F x , F y , F z , M x , M y , M z ) are 16.3%, 20.0%, 27.5%, 20.5%, 21.6%, 14.9% respectively.

Type: Proceedings paper
Title: A2-piece six-axis force/torque sensor capable of measuring loads applied to tools of complex shapes
Event: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN-13: 9781728140049
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/IROS40897.2019.8967947
Publisher version: https://doi.org/10.1109/IROS40897.2019.8967947
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10095646
Downloads since deposit
404Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item