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Design and Manufacturing of an Ultra-Low-Cost Custom Torque Sensor for Robotics

Rodrigo Pérez Ubeda, Santiago C. Gutiérrez Rubert, Ranko Zotovic Stanisic, Ángel Perles Ivars
2018 Sensors  
In general, two types of sensors may be found inside a robot-those that are located at the end effector (Figure 1a) , which are complex sensors comprising six force and torque components, and those located  ...  The torque sensor was developed under the principle of measurement by strain gauges. It has been designed in order to make manufacturing operations as simple as possible.  ...  Analytical Model Next, an analytical model of the proposed design is included for a better understanding of the simulation results.  ... 
doi:10.3390/s18061786 pmid:29865204 pmcid:PMC6021961 fatcat:bnom6gzyn5d3tlcuxv6hx2aj6i

Joint torque sensing for the upper-body of the iCub humanoid robot

Alberto Parmiggiani, Marco Randazzo, Lorenzo Natale, Giorgio Metta, Giulio Sandini
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
This paper describes the design and integration of three joint torque sensors on the arm of the iCub platform [1], [2] .  ...  We first modeled the behaviour of the sensors with analytical equations and the sensor geometry were subsequently optimized using finite element structural simulations.  ...  We would also like to thank Francesco Becchi for his assistance in the conceptual design of the shoulder pitch and elbow sensors.  ... 
doi:10.1109/ichr.2009.5379525 dblp:conf/humanoids/ParmiggianiRNMS09 fatcat:z2kmrd43l5cxdj5ev3tbqgxqwq

2020 Index IEEE Transactions on Magnetics Vol. 56

2020 IEEE transactions on magnetics  
., +, TMAG Feb. 2020 4000105 Parametric Reconstruction of Multiple Line Currents Based on Magnetic Sensor Array.  ...  ., +, TMAG Feb. 2020 4000105 Parametric Reconstruction of Multiple Line Currents Based on Magnetic Sensor Array.  ... 
doi:10.1109/tmag.2021.3050874 fatcat:tyv7g6ev3vbotdy7pt5u2aezqq

Error Modeling and Experimental Study of a Flexible Joint 6-UPUR Parallel Six-Axis Force Sensor

Yanzhi Zhao, Yachao Cao, Caifeng Zhang, Dan Zhang, Jie Zhang
2017 Sensors  
First, an assembly error model is established based on the imaginary kinematic joint method and the Denavit-Hartenberg (D-H) method. Next, a stiffness model is built to solve the stiffness matrix.  ...  Based on a flexible joint 6-UPUR (a kind of mechanism configuration where U-universal joint, P-prismatic joint, R-revolute joint) parallel six-axis force sensor developed during the prephase, assembly  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s17102238 pmid:28961209 pmcid:PMC5676772 fatcat:n4nvnd4d2ndjfhbvnxo6oagpx4

The inertial effect of acceleration fields on a self-decoupled wheel force transducer

Lihang Feng, Guoyu Lin, Weigong Zhang, Pedro Ivo Rogedo
2015 Latin American Journal of Solids and Structures  
However, the transducer is generally mounted on the wheel of a moving vehicle, when abruptly accelerating or braking, the mass/inertia of the transducer itself has extra effects on the sensor response  ...  Inertia load distribution of the WFT is solved based on the principle of equivalent mass and rotary inertia firstly, thus then its impact can be identified with the theoretical derivation.  ...  The work was supported by Natural Science Foundation of China (51305078), Suzhou Science and Technology Project (SYG201303) and Funding of Jiangsu Innovation Program for Graduate Education (KYLX_0107).  ... 
doi:10.1590/1679-78251540 fatcat:w4gaafqqxvg4hcks4ve7nagt4m

Inertia Coupling Analysis of a Self-Decoupled Wheel Force Transducer under Multi-Axis Acceleration Fields

Lihang Feng, Guoyu Lin, Weigong Zhang, Dong Dai, Roi Gurka
2015 PLoS ONE  
According to the self-decoupling approach of the WFT, inertia load distribution is solved based on the principle of equivalent mass and rotary inertia, thus then inertia impact can be identified with the  ...  The transducer, however, is typically mounted on the wheel of a moving vehicle, especially on a high speed car, when abruptly accelerating or braking, the mass/inertia of the transducer/wheel itself will  ...  on the sensor response.  ... 
doi:10.1371/journal.pone.0118249 pmid:25723492 pmcid:PMC4344297 fatcat:xlsrv3jrq5ftlf4p6r4m2tk3pm

Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor

Zhi Niu, Tieshi Zhao, Yanzhi Zhao, Qiangqiang Hu, Shixing Ding
2017 Sensors  
To address these challenges, this paper proposes an over-constrained six-dimensional force sensor based on a parallel mechanism of steel ball structures as a measurement module.  ...  measurement branches of the proposed sensor were then analytically derived.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s17091985 pmid:28867812 pmcid:PMC5621387 fatcat:36hlluk6kzgsfbglg42n6f2eee

Opto-Mechanical Photonic Crystal Cavities for Sensing Application

Ji Xia, Qifeng Qiao, Guangcan Zhou, Fook Siong Chau, Guangya Zhou
2020 Applied Sciences  
On account of their high-quality factors and small mode volumes as well as good on-chip integrability with waveguides/circuits, photonic crystal (PhC) cavities have attracted great attention in sensing  ...  Opto-mechanical interaction-based PhC cavities offer unprecedented opportunities to develop lab-on-a-chip devices and witness a promising prospect to further manipulate light propagation in the nanophotonics  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10207080 fatcat:52kvkq3kfvfy7i5j5a4h5ohghm

Researchers from Academia, Government, and Industry Come Together at the 2006 MRS Spring Meeting

2006 MRS bulletin  
Starke (MPI, Stuttgart) spoke of the atomic structure of SiC surfaces, while R. Okojie (NASA Glenn Research Ctr.) spoke of process-induced deformations and stacking faults in 4H-SiC.  ...  ., UK) spoke of 3C epitaxy on Si. In a session devoted to SiC contacts, A. Agarwal (Cree) spoke on SiC BJTs while S. Tsukimoto (Kyoto Univ.) spoke of the use of NiAl contacts.  ...  Key areas of research include new analytic and modeling approaches to understanding the complex interactions in filter media.  ... 
doi:10.1557/mrs2006.143 fatcat:vr4fhmc7orejbk62ekqlm76bpi

Designing a Tunnel [chapter]

Spiros Massinas
2019 Tunnel Engineering [Working Title]  
The aim of the chapter is to give details on advance computational modelling and analytical methodologies, which can be used in order to design shallow and deep tunnels and to present real case studies  ...  Risks of collapse and large deformations at the surface are high; thus negative impact on old buildings are likely to occur if appropriate measures are not taken in advance, when designing and constructing  ...  By reducing friction, the additives reduce the torque required to churn the spoil, thus liberating more torque to work on the face.  ... 
doi:10.5772/intechopen.90182 fatcat:ck2eehggszgytccpjc7m63tfpq

Simulating humans: computer graphics animation and control

1994 ChoiceReviews  
The very ubiquitousness of other people in our lives poses a tantalizing challenge to the computational modeler: people are at once the most common object of interest and yet the most structurally complex  ...  Likewise we learn how to describe the actions and behaviors of others without consciously struggling with the processes of perception, recognition, and language.  ...  Jane, turn tglJ-1 on. John, look at tglJ-2. Jane, look at twf-2. Jane, turn twf-2 to state 1. John, look at twf-2. John, look at Jane. Jane, look at John.  ... 
doi:10.5860/choice.31-2728 fatcat:r2oehymzrvb27mchwharo6fesm

Modal Analysis of Electric sail

Todd D. Lillian
2021 Acta Astronautica  
We also would like to thanks engineers and scientists at NASA MSFC ES36 group who took time and shared their thoughts and ideas on using wireless sensor network technologies in space applications.  ...  Gerald Karr and Brooke Graham of the University of Alabama, Huntsville for facilitating the no-Cost extension that allowed the completion of this report.  ...  Each of the N spokes/tethers supports a pod.  ... 
doi:10.1016/j.actaastro.2021.05.003 fatcat:haxb75tn2bd7xp43hw6hv4mlya

Kinematic amplification strategies in plants and engineering

Victor Charpentier, Philippe Hannequart, Sigrid Adriaenssens, Olivier Baverel, Emmanuel Viglino, Sasha Eisenman
2017 Smart materials and structures (Print)  
With a focus on displacement amplification, the most recent promising strategies for actuation and adaptive systems are examined with respect to the mechanical principles of shape morphing plant tissues  ...  The understanding of those natural movements therefore starts with an exploration of mechanisms at the origins of movements.  ...  Those analytical models have the same kinematic properties as the plant seedpod [78] .  ... 
doi:10.1088/1361-665x/aa640f fatcat:uri2n3cogbc4pcymsqdaqnjlw4

Comparative Analysis of Different Machine Learning Classifiers for the Prediction of Chronic Diseases [chapter]

Rajesh Singh, Anita Gehlot, Dharam Buddhi
2022 Comparative Analysis of Different Machine Learning Classifiers for the Prediction of Chronic Diseases  
Precise diagnosis of these diseases on time is very significant for maintaining a healthy life.  ...  Chronic Diseases are the most dangerous diseases for humans and have significant effects on human life. Chronic Diseases like heart disease & Diabetes are the main causes of death.  ...  The region-based segmentation will segment the data dependent on the taken-out features using GLCM algorithm.  ... 
doi:10.13052/rp-9788770227667 fatcat:da47mjbbyzfwnbpde7rgbrlppe

Aeroelasticity-Frontiers and Beyond

LE. Garrick
1976 Journal of Aircraft  
In this process the methods of substructuring, based on finite-element analysis, and of modal synthesis, based on component mode analysis, which have seen major developments in the past decade (although  ...  of a B-52 Model Flutter Suppression System,”’ Jourjal of Aircraft, Vol. 11, Nov. 1974, pp. 659-663. *5 Nissim, E., ‘‘Flutter Suppression Using Active Controls Based on the Concept of Aerodynamic Energy  ... 
doi:10.2514/3.58696 fatcat:po5ogkhqn5fnbawneehlmfrhiu
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