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標題: 六軸力量感測器之研究
A study of the six-axis force sensor
作者: 鄭伊佐
Cheng, Yi-zuo
關鍵字: 六軸力量感測器;wrist force/torque sensor;優化結構;六軸力量解耦;coupled interference;elastic body
出版社: 機械工程學系所
引用: [1] Tsuneo YOSHIKAWA and Taizou MIYAZAKIA , “Six-Axis Force Sensor with Three-Dimensional Cross-Shape Structure”,IEEE [2] Qiao-Kang Liang, Quan-Jun Song, Dan Zhang, Yun-JianGe, Hui-Bin Cao, and Yu Ge,“Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams”,Measurement 43 (2010) 1702–1719 [3] Aiguo Song, Juan Wu, Jianqing Li, QingjunZeng and Weiyi Huang, “A Novel Four Degree-of-Freedom Wrist Force/Torque Sensor with Low Coupled Interference”,IEEE [4] Gab-Soon Kim, “Design of a six-axis wrist force/moment sensor using FEM and its fabrication for an intelligent robot,Sensors and Actuators A 133 (2007) 27–34 [5] Chul-Goo Kang,“Performance Improvement of a 6-Axis Force-torque Sensor via Novel Electronics and Cross-shaped Double-hole Structure”,International Journal of Control, Automation, and Systems, vol. 3, no. 3, pp. 469-476, September 2005 [6] Joong-Jo Park, Gab-Soon Kim,“Development of the 6-axis force/moment sensor for an intelligent robot’s gripper”Sensors and Actuators A 118 (2005) 127–134 [7] Pham Huy Hoang , “Design and simulation of flexure-based planar force/ torque sensor ” 2010 IEEE Conference on Robotics, Automation and Mechatronics 194-198 [8] Gab-Soon Kim, Development of a Six-Axis Force/Moment Sensor with Rectangular, “Development of a Six-Axis Force/Moment Sensor with RectangularTaper Beams for an Intelligent Robot” International Journal of Control, Automation, and Systems, vol. 5, no.4, pp. 419-428, August 2007 [9] Qiao-Kang Liang, Quan-Jun Song, Dan Zhang, Yun-JianGeGuang-Bin Zhang, Hui-Bin Cao, and Yu GeQingjunZeng and Weiyi Huang , “Design of a Novel Six-Dimensional Force/Torque Sensor and Its Calibration Based on NN”,pp. 1–8, 2010 [10] Ying-Jun Li, Bao-Yuan Sun, Jun Zhang, Min Qian, and Zhen-Yuan Jia, “A novel parallel piezoelectric six-axis heavy force/torque sensor”,Measurement 42 (2009) 730–736 [11] Weichao Yang, Bo Song, Yong Yu2 and Yunjian Ge1,“Design of a Micro Six-Axis Force Sensor Based onDouble Layer E-type Membrane” 2010 IEEE Conference on Robotics, Automation and Mechatronics 1632-1639 [12] Ulrich Seibold, Bernhard K‥ubler, and GerdHirzinger, “Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability”,IEEE [13] Hao Su, Gregory S. Fischer, “A 3-Axis Optical Force/Torque Sensor for Prostate Needle Placement in Magnetic Resonance Imaging Environments”pp.5-9,IEEE,2009 [14] SarmadShams,Dong Su Kim1, Youn Sung Choi and Chang Soo Han, “A Novel 3-DOF Optical Force Sensor for Wearable , Robotic Arm”, INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. 12, No. 4, pp. 623-628. [15] Qiaokang Liang, Dan Zhang, Senior , “A Novel Miniature Four-Dimensional Force/Torque Sensor With Overload Protection Mechanism”,IEEE SENSORS JOURNAL, VOL. 9, NO. 12, DECEMBER 2009 [16] Aiguo Song, Juan Wu, Jianqing Li, QingjunZeng and Weiyi Huang,“A Novel Four Degree-of-Freedom Wrist Force/Torque Sensor with Low Coupled Interference”,The 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011) Nov. 23-26, 2011 [17] Sheng A. Liu*, Hung L. Tzo, “A novel six-component force sensor of good measurement isotropyand sensitivities, ”Sensors and Actuators A 100 (2002) 223–230 [18] Sheng A. Liu, Hung L. Tzo,“A novel six-component force sensor of goodmeasurement isotropyz and sensitivities”, Sensors and Actuators A 100 (2002) 223–230 [19] Felix Beyeler, Simon Muntwyler, Bradley J. Nelson,“A Six-Axis MEMS Force–Torque Sensor With Micro-Newton and Nano-Newtonmeter Resolution t”JOURNAL OF MICROELECTROMECHANICAL SYSTEMS, VOL. 18, NO. 2, APRIL 2009 [20] Zhen-Yuan Jia, Hui-Fang Liu , Fu-Ji Wang, Wei Liu, Chun-YaGe,“A novel magnetostrictive static force sensor based on the giant magnetostrictive material”Measurement 44 (2011) 88–95
本論文研究目的是將六軸力量感測器並以應用於機械手臂手腕上為目標, 傳統的六軸力量感測器,其結構體是影響靈敏度的主要關鍵。因此,針對應變式力量感測器進行研究及對力量感測彈性體進行設計與優化設計;此外,一般市面上的六軸力量感測器,(其結構體上)至少需黏貼24個應變規,方能完成六軸的解耦,針對此點本研究將運用有限元素法進行結構優化,使得能將應變規從24個降低為12個,便可完成六軸的解耦性。


This thesis is a development of six-axis force sensor used in mechanical arm wrist, the sensitivity is the main affection in traditional structure of six-axis force sensor . Conducting a research and optimizing the design to Strain gauge force sensors, On the general market a six-axis force sensor sticks at least 24 strain gauges to complete 6-axis solution,according to that using the finite element method to optimize the structure, reducing 24 strain gauges to 12 to complete a 6-axis strain decoupled.

The output sensitivity of the force sensor is related to the strain of Sensing elastomer,hereby conducting to weaken the Elastic structure, The main change in the design is the use of weakening the structure of basal area so i should have quality deterioration can increase cross-section of the increased resistance to bending loads’ sensitivity in all directions

The results will be analyzed to find out the best location of the strain gage and the best adhesive out of the structure on the design, useing InstruNet signal capture card to capture the12 sets strain gauge signals which are generated by KYOWA bridge box and analyzing and then after calibration test, to verify the accuracy of the final result and sensitivity, Six-axis force sensor needs to use the 24 strain gauges to overcome the problems caused by signal coupling problem is quite large, so reducing the number of strain gauges to achieve six-axis force Sensors also a subject of study.

This 12 sets of strain gauges are using a single output value, not the traditional style using full Kiu type, single output strain value and then after processing them after the experiment can effectively reduce the error caused by the maximum interference error is 2.98%.
其他識別: U0005-1208201311403900
Appears in Collections:機械工程學系所

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