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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：246 下載：0
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Table of Contents
Acknowledgements    IV
摘要    V
Abstract    VI
List of figures    XII
List of Tables    XVI
Chapter 1.    1
Introduction    1
1.1    Motivation and research statements    3
1.2    Force/moment sensor background    4
1.3    Objective and Scope of Study    4
1.4    Thesis overview    6
1.5    Thesis organization    7
Chapter 2.    8
Literature reviews    8
2.1    Mechanically coupled sensors    8
2.2    Mechanically decoupled sensors    9
2.3    Multi axis F/M sensor key features    9
2.3.1    Mechanical structural design    10
2.3.2    Sensing element type and arrangement    14
2.3.3    Cross-talk (cross coupling)    19
2.3.4    Calibration system    19
2.3.5    Noise reduction    20
Chapter 3    21
Design and development of six-axis force-moment sensor    21
3.1    Structural Design    21
3.1.1    Structural design of sensor I    21
3.1.2    Structural design of sensor II    22
3.2    Strain Gauge Arrangement    25
3.3    Measurement Principle and Sensor Calibration system    27
3.3.1    Measurement Principle    27
3.3.2    Sensor Calibration    28
3.4    Multi-Channel Sensor Measurement and Detection System Based on LabVIEW    33
3.4.1    Equipment’s and circuit systems    34
3.4.2    Software Configuration    35
3.5    Error Reduction Techniques    37
3.5.1    Force Filtering    38
3.5.2    Moving Average Filter    39
3.5.3    Error Reduction Techniques Process    40
Chapter 4.    41
Fixed Structure of a Decoupled Six-Axis Force/Moment Sensor    41
4.1    Finite Element Analysis of Fixed Structure Decoupled Six-Axis F/M Sensor    41
4.2    Experimental Results    45
4.3    Summary    49
Chapter 5.    50
Sliding and Rotating Structure of a Decoupled Six-Axis Force/Moment Sensor    50
5.1    Structural Analytic Solution    50
5.2.1    Under Applied Force Fx or Fy    52
5.2.2    Under Applied Force Fz    54
5.2.3    Under Applied Moment Mx or My    55
5.2.4    Under Applied Moment Mz    57
5.2    Results and Discussion    58
5.2.1    Numerical Simulations    58
5.2.2    Comparison of Numerical Solution with Analytical Solution    59
5.2.3    Optimization    63
5.2.4    Friction    67
5.2.5    Experimental Validation    67
5.3    Summary    69
Chapter 6.    70
Six-Axis Force/Moment Sensor Testing on The Robot Manipulator    70
6.1    Testing process of the robot manipulator    71
6.2    Experimental results    71
6.2.1    Fixed type six-axis F/M sensor    73
6.2.2    Sliding Structure six-axis F/M sensor    73
6.2.3    JR3 six-axis F/M sensor    74
6.2.4    Robotiq six-axis F/M sensor    76
6.3    Summary    77
Chapter 7.    78
Conclusions and future works    78
7.1    Conclusions    78
7.2    Future works    80
References    81
Appendix A    90
Fixed Structure Force/Moment Sensor    90
Appendix B    94
Sliding and Rotating Structure Force/Moment Sensor    94
Appendix C    101
Fixed Structure Force/Moment Sensor the Calibration data, Decoupling matrix and Measurement test data    101
Appendix D    105
Sliding and Rotating Structure Force/Moment Sensor the Calibration data, Decoupling matrix and Measurement test data    105
Appendix E    109
Fixed and Sliding Structure Force/Moment Sensor Specifications    109


                                

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全文公開日期 2025/07/16 (校內網路)
全文公開日期 2025/07/16 (校外網路)
全文公開日期 2025/07/16 (國家圖書館：臺灣博碩士論文系統)

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