Design of a three-axis force sensor using decoupled compliant parallel mechanisms
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Date
2024-06-19
Authors
Li, Haiyang
Yi, Longteng
Leng, Chuyang
Zhong, Yahan
Hong, Jiaqi
Song, Xueguan
Hao, Guangbo
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published Version
Abstract
Multi-axis force sensors are integral to a wide range of high-tech applications, including robotics and machine monitoring. However, a significant challenge in their use is the high cross-axis coupling, which detrimentally affects measurement accuracy. To address this critical issue, this paper presents a comprehensive design method for multi-axis force sensors. This approach utilizes compliant parallel mechanisms, effectively decoupling the measured forces on multiple axes and enabling precise and independent measurement of each component force within the multi-axis system. Focusing on three-axis force sensors as a case study, this paper elucidates the proposed design principle. The comprehensive study covers system configuration, mechanical design, analytical modeling, numerical simulation, prototype development, and experimental evaluation. The resultant three-axis force sensor, prior to calibration, exhibits an average coupling error of just about 1.5%, underscoring its superior decoupling capability. The design concept and methodologies outlined here offer valuable insights for the development of self-decoupling multi-axis force sensors, advancing the field significantly.
Description
Keywords
Three-axis force sensor , Compliant parallel mechanism , Cross-axis decoupling , Mechanism synthesis
Citation
Li, H., Yi, L., Leng, C., Zhong, Y., Hong, J., Song, X. and Hao, G. (2024) 'Design of a three-axis force sensor using decoupled compliant parallel mechanisms', IEEE Sensors Journal, 24(15), pp. 23585 - 23598. https://doi.org/10.1109/JSEN.2024.3413749
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Copyright
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