研究生: |
Getnet Ayele Kebede Getnet Ayele Kebede |
---|---|
論文名稱: | Design and Development of a Decoupled Six-Axis Force/Moment Sensor |
指導教授: |
林其禹
Chyi-Yeu Lin |
口試委員: |
張以全
Peter I-Tsyuen Chang 林其禹 Chyi-Yeu lin 郭重顯 Chung-Hsien Kuo 林沛群 Pei-Chun Lin 陳金聖 Chin-Sheng Chen |
學位類別: |
博士 Doctor |
系所名稱: |
工程學院 - 機械工程系 Department of Mechanical Engineering |
論文出版年: | 2020 |
畢業學年度: | 108 |
語文別: | 英文 |
論文頁數: | 127 |
外文關鍵詞: | six-axis force–moment sensor, error reduction techniques, strain gauge arrangement, cross beam, cross-talk; |
相關次數: | 點閱:247 下載:0 |
分享至: |
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報 |
References
1. Kang, M.-K.; Lee, S.; Kim, J.-H. Shape optimization of a mechanically decoupled six-axis force/torque sensor. Sensors and Actuators A: Physical 2014, 209, 41-51.
2. Park, J.-J.; Kim, G.-S. Development of the 6-axis force/moment sensor for an intelligent robot's gripper. Sensors and Actuators A: Physical 2005, 118, 127-134.
3. Song, A.; Wu, J.; Qin, G.; Huang, W. A novel self-decoupled four degree-of-freedom wrist force/torque sensor. Measurement 2007, 40, 883-891.
4. Joo, J.; Na, K.; Kang, D.J.M. Design and evaluation of a six-component load cell. 2002, 32, 125-133.
5. Krouglicof, N.; Alonso, L.M.; Keat, W.D. Development of a mechanically coupled, six degree-of-freedom load platform for biomechanics and sports medicine. In Proceedings of 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No. 04CH37583); pp. 4426-4431.
6. Bicchi, A. A criterion for optimal design of multi-axis force sensors. Robotics and Autonomous Systems 1992, 10, 269-286.
7. Chen, L.; Song, A. A novel three degree-of-freedom force sensor. In Proceedings of Measuring Technology and Mechatronics Automation, 2009. ICMTMA'09. International Conference on; pp. 77-80.
8. Krouglicof, N.; Alonso, L.M.; Keat, W.D. Development of a mechanically coupled, six degree-of-freedom load platform for biomechanics and sports medicine. In Proceedings of Systems, Man and Cybernetics, 2004 IEEE International Conference on; pp. 4426-4431.
9. Weiyi, H.; Hongming, J.; Hanqing, Z. Mechanical analysis of a novel six-degree-of-freedom wrist force sensor. Sensors and Actuators A: Physical 1993, 35, 203-208.
10. Zhao, Y.; Jiao, L.; Weng, D.; Zhang, D.; Zheng, R. Decoupling principle analysis and development of a parallel three-dimensional force sensor. Sensors 2016, 16, 1506.
11. Kim, G.-S. Design of a six-axis wrist force/moment sensor using FEM and its fabrication for an intelligent robot. Sensors and Actuators A: Physical 2007, 133, 27-34.
12. Liu, S.A.; Tzo, H.L. A novel six-component force sensor of good measurement isotropy and sensitivities. Sensors and Actuators A: Physical 2002, 100, 223-230.
13. Zhang, W.; Lua, K.B.; Senthil, K.A.; Lim, T.T.; Yeo, K.S.; Zhou, G. Design and characterization of a novel T-shaped multi-axis piezoresistive force/moment sensor. IEEE Sensors Journal 2016, 16, 4198-4210.
14. Kang, C. 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 2005, 3, 469.
15. Kang, C.-G. Maximum structural error propagation of multi-axis force sensors. JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing 2001, 44, 676-681.
16. Joo, J.; Na, K.; Kang, D. Design and evaluation of a six-component load cell. Measurement 2002, 32, 125-133.
17. Kim, M.-G.; Lee, D.-H.; Cho, N.-G. A force sensor with five degrees of freedom using optical intensity modulation for usage in a magnetic resonance field. Measurement Science and Technology 2013, 24, 045101, doi:10.1088/0957-0233/24/4/045101.
18. Sun, Y.; Liu, Y.; Zou, T.; Jin, M.; Liu, H. Design and optimization of a novel six-axis force/torque sensor for space robot. Measurement 2015, 65, 135-148.
19. Sun, Y.; Li, Y.; Liu, Y.; Liu, H. An online calibration method for six-dimensional force/torque sensor based on shape from motion combined with complex algorithm. In Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014); pp. 2631-2636.
20. Ma, J.; Song, A.; Xiao, J. A robust static decoupling algorithm for 3-axis force sensors based on coupling error model and ε-SVR. Sensors 2012, 12, 14537-14555.
21. Ma, Y.; Xie, S.; Zhang, X.; Luo, Y. Hybrid calibration method for six-component force/torque transducers of wind tunnel balance based on support vector machines. Chinese Journal of Aeronautics 2013, 26, 554-562.
22. Jingzhu, Z.; Kai, G.; Cheng, X. Decoupling Strategy of Multi-dimensional Force Sensor Based on LS-SVM and αth-order Inverse System Method. In Proceedings of 8th International Conference on Electronic Measurement and Instruments, Xi'an, China; pp. 4-378-374-381.
23. Kosuge, K.; Takeuchi, H.; Furuta, K. Motion control of a robot arm using joint torque sensors. In Proceedings of Proceedings of the 27th IEEE Conference on Decision and Control; pp. 610-615.
24. Liang, Q.; Zhang, D.; Song, Q.; Ge, Y.; Cao, H.; Ge, Y. Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams. Measurement 2010, 43, 1702-1719.
25. Dwarakanath, T.; Dasgupta, B.; Mruthyunjaya, T. Design and development of a Stewart platform based force–torque sensor. Mechatronics 2001, 11, 793-809.
26. Hayashi, Y.; Tsujiuchi, N.; Koizumi, T.; Oshima, H.; Ito, A.; Tsuchiya, Y. Optimum design of the thin-type four-axis force/moment sensor for a robot finger. In Proceedings of IECON 2010-36th Annual Conference on IEEE Industrial Electronics Society; pp. 1287-1292.
27. Hou, Y.; Yao, J.; Lu, L.; Zhao, Y. Performance analysis and comprehensive index optimization of a new configuration of Stewart six-component force sensor. Mechanism and Machine Theory 2009, 44, 359-368.
28. Jia, Z.-Y.; Lin, S.; Liu, W. Measurement method of six-axis load sharing based on the Stewart platform. Measurement 2010, 43, 329-335.
29. Wang, Z.; Li, Z.; He, J.; Yao, J.; Zhao, Y. Optimal design and experiment research of a fully pre-stressed six-axis force/torque sensor. Measurement 2013, 46.
30. Wu, B.; Luo, J.; Shen, F.; Ren, Y.; Wu, Z. Optimum design method of multi-axis force sensor integrated in humanoid robot foot system. Measurement 2011, 44, 1651-1660.
31. Bicchi, A.J.R.; Systems, A. A criterion for optimal design of multi-axis force sensors. 1992, 10, 269-286.
32. Qiao, H.; Dalay, B.; Parkin, R.J.P.o.t.I.o.M.E., Part C: Journal of Mechanical Engineering Science. Robotic peg-hole insertion operations using a six-component force sensor. 1993, 207, 289-306.
33. Chen, L.; Song, A. A novel three degree-of-freedom force sensor. In Proceedings of 2009 international conference on measuring technology and mechatronics automation; pp. 77-80.
34. Li, Y.-j.; Wang, G.-c.; Zhao, D.; Sun, X.; Fang, Q.-h.J.M.S.; Processing, S. Research on a novel parallel spoke piezoelectric 6-DOF heavy force/torque sensor. 2013, 36, 152-167.
35. Dwarakanath, T.; Dasgupta, B.; Mruthyunjaya, T.J.M. Design and development of a Stewart platform based force–torque sensor. 2001, 11, 793-809.
36. Jia, Z.-Y.; Lin, S.; Liu, W.J.M. Measurement method of six-axis load sharing based on the Stewart platform. 2010, 43, 329-335.
37. Hou, Y.; Yao, J.; Lu, L.; Zhao, Y.J.M.; Theory, M. Performance analysis and comprehensive index optimization of a new configuration of Stewart six-component force sensor. 2009, 44, 359-368.
38. Kim, G.-S.J.S.; Physical, A.A. Design of a six-axis wrist force/moment sensor using FEM and its fabrication for an intelligent robot. 2007, 133, 27-34.
39. Li, Y.-J.; Sun, B.-Y.; Zhang, J.; Qian, M.; Jia, Z.-Y.J.M. A novel parallel piezoelectric six-axis heavy force/torque sensor. 2009, 42, 730-736.
40. Li, Y.-j.; Wang, G.-c.; Zhang, J.; Jia, Z.-y.J.M. Dynamic characteristics of piezoelectric six-dimensional heavy force/moment sensor for large-load robotic manipulator. 2012, 45, 1114-1125.
41. Liu, J.; Li, M.; Qin, L.; Liu, J.J.S. Active design method for the static characteristics of a piezoelectric six-axis force/torque sensor. 2014, 14, 659-671.
42. Alveringh, D.; Brookhuis, R.A.; Wiegerink, R.J.; Krijnen, G.J. A large range multi-axis capacitive force/torque sensor realized in a single SOI wafer. In Proceedings of 2014 IEEE 27th International Conference on Micro Electro Mechanical Systems (MEMS); pp. 680-683.
43. Brookhuis, R.A.; Droogendijk, H.; de Boer, M.J.; Sanders, R.G.; Lammerink, T.S.; Wiegerink, R.J.; Krijnen, G.J.J.J.o.m.; microengineering. Six-axis force–torque sensor with a large range for biomechanical applications. 2014, 24, 035015.
44. Brookhuis, R.A.; Wiegerink, R.J.; Lammerink, T.S.; de Boer, M.J.; Ma, K.; Elwenspoek, M. Scalable six-axis force-torque sensor with a large range for biomechanical applications. In Proceedings of 2012 IEEE 25th International Conference on Micro Electro Mechanical Systems (MEMS); pp. 595-598.
45. Kim, D.; Lee, C.H.; Kim, B.C.; Lee, D.H.; Lee, H.S.; Nguyen, C.T.; Kim, U.K.; Nguyen, T.D.; Moon, H.; Koo, J.C. Six-axis capacitive force/torque sensor based on dielectric elastomer. In Proceedings of Electroactive Polymer Actuators and Devices (EAPAD) 2013; p. 86872J.
46. Somlor, S.; Schmitz, A.; Hartanto, R.; Sugano, S. A prototype force sensing unit for a capacitive-type force-torque sensor. In Proceedings of 2014 IEEE/SICE International Symposium on System Integration; pp. 684-689.
47. Kim, U.; Lee, D.-H.; Kim, Y.B.; Seok, D.-Y.; Choi, H.R.J.I.A.T.o.M. A novel six-axis force/torque sensor for robotic applications. 2016, 22, 1381-1391.
48. Kim, J.-C.; Kim, K.-S.; Kim, S.J.R.o.S.I. Note: A compact three-axis optical force/torque sensor using photo-interrupters. 2013, 84, 126109.
49. Al-Mai, O.; Ahmadi, M.; Albert, J.J.I.S.J. Design, development and calibration of a lightweight, compliant six-axis optical force/torque sensor. 2018, 18, 7005-7014.
50. Haslinger, R.; Leyendecker, P.; Seibold, U. A fiberoptic force-torque-sensor for minimally invasive robotic surgery. In Proceedings of 2013 IEEE International Conference on Robotics and Automation; pp. 4390-4395.
51. Huang, J.; Wong, C.Y.; Pham, D.T.; Wang, Y.; Ji, C.; Su, S.; Xu, W.; Liu, Q.; Zhou, Z. Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications. In Proceedings of ICINCO (1); pp. 527-534.
52. Liang, Q.; Wu, W.; Coppola, G.; Zhang, D.; Sun, W.; Ge, Y.; Wang, Y.J.R.; Manufacturing, C.-I. Calibration and decoupling of multi-axis robotic Force/Moment sensors. 2018, 49, 301-308.
53. Oh, H.S.; Kang, G.; Kim, U.; Seo, J.K.; You, W.S.; Choi, H.R. Force/torque sensor calibration method by using deep-learning. In Proceedings of 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI); pp. 777-782.
54. Beyeler, F.; Muntwyler, S.; Nelson, B.J. Design and calibration of a microfabricated 6-axis force-torque sensor for microrobotic applications. In Proceedings of Robotics and Automation, 2009. ICRA'09. IEEE International Conference on; pp. 520-525.
55. Kim, K.; Sun, Y.; Voyles, R.M.; Nelson, B.J. Calibration of multi-axis MEMS force sensors using the shape-from-motion method. IEEE Sensors Journal 2007, 7, 344-351.
56. Oddo, C.; Valdastri, P.; Beccai, L.; Roccella, S.; Carrozza, M.; Dario, P. Investigation on calibration methods for multi-axis, linear and redundant force sensors. Measurement Science and Technology 2007, 18, 623.
57. Voyles, R.M.; Morrow, J.D.; Khosla, P.K. The shape from motion approach to rapid and precise force/torque sensor calibration. Journal of dynamic systems, measurement, and control 1997, 119, 229-235.
58. Liang, Q.; Wu, W.; Coppola, G.; Zhang, D.; Sun, W.; Ge, Y.; Wang, Y. Calibration and decoupling of multi-axis robotic Force/Moment sensors. Robotics and Computer-Integrated Manufacturing 2018, 49, 301-308.
59. Kebede, G.A.; Ahmad, A.R.; Lee, S.-C.; Lin, C.-Y.J.S. Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques. 2019, 19, 3012.
60. Kang, M.-K.; Lee, S.; Kim, J.-H.J.S.; Physical, A.A. Shape optimization of a mechanically decoupled six-axis force/torque sensor. 2014, 209, 41-51.
61. Kebede, G.A.; Ahmad, A.R.; Lee, S.C.; Lin, C.Y. Decoupled Six-Axis Force-Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques. Sensors (Basel) 2019, 19, doi:10.3390/s19133012.
62. Wang, Y.; Zuo, G.; Chen, X.; Liu, L. Strain analysis of six-axis force/torque sensors based on analytical method. IEEE Sensors Journal 2017, 17, 4394-4404.
63. Wu, B.; Cai, P. Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor. Measurement Science Review 2013, 13, 187-193, doi:10.2478/msr-2013-0028.
64. Shimano, B.; Roth, B. On force sensing information and its use in controlling manipulators. IFAC Proceedings Volumes 1977, 10, 119-126.
65. Sedra, A.S.; Smith, K.C. Microelectronic Circuits. 2004.
66. Chen, D.; Song, A.; Li, A. Design and calibration of a six-axis force/torque sensor with large measurement range used for the space manipulator. Procedia Engineering 2015, 99, 1164-1170.
67. Timoshenko, S.P. LXVI. On the correction for shear of the differential equation for transverse vibrations of prismatic bars. The London, Edinburgh, and Dublin Philosophical Magazine and Journal of Science 1921, 41, 744-746.
68. Ma, J.; Song, A. Fast estimation of strains for cross-beams six-axis force/torque sensors by mechanical modeling. Sensors (Basel) 2013, 13, 6669-6686, doi:10.3390/s130506669.
69. Huang, J.; Wong, C.Y.; Pham, D.T.; Wang, Y.; Ji, C.; Su, S.; Xu, W.; Liu, Q.; Zhou, Z. Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications. 2018, 517-524.
70. Stein, N.; Rosendahl, P.; Becker, W. Homogenization of mechanical and thermal stresses in functionally graded adhesive joints. Composites Part B: Engineering 2017, 111, 279-293.
71. Nocedal, J.; Wright, S. Numerical optimization; Springer Science & Business Media: 2006.