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A New Miniaturised Multi-Axis Force/Torque Sensors Based on Optoelectronic Technology and Simply-Supported Beam

Noh, Y; Bimbo, J; Stilli, A; Wurdemann, HA; Liu, H; Housden, RJ; Rhode, K; (2016) A New Miniaturised Multi-Axis Force/Torque Sensors Based on Optoelectronic Technology and Simply-Supported Beam. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 202-207). IEEE Green open access

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Abstract

This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a simply-supported beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.

Type: Proceedings paper
Title: A New Miniaturised Multi-Axis Force/Torque Sensors Based on Optoelectronic Technology and Simply-Supported Beam
Event: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Location: Daejeon, Korea
Dates: 9th October 2016 - 14th October 2016
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/IROS.2016.7759056
Publisher version: http://dx.doi.org/10.1109/IROS.2016.7759056
Language: English
Additional information: ©2016 IEEE.
Keywords: Robot sensing systems, Mechanical sensors, Optical sensors, Force, Force measurement
UCL classification: UCL
UCL > Provost and Vice Provost Offices
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 Mechanical Engineering
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/1522220
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