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论文类型：期刊论文

发表时间：2009-07-01

发表刊物：MECHANICAL SYSTEMS AND SIGNAL PROCESSING

收录刊物：EI、SCIE

卷号：23

期号：5

页面范围：1644-1651

ISSN号：0888-3270

关键字：6-Component force/moment; Heavy force; Load distribution; Piezoelectric quartz; Interference error

摘要：This paper presents the development of a piezoelectric 6-component heavy force/moment sensor which may be used to detect forces F(x), F(y) and F(z), and moments M(x), M(y) and M, on huge heavy-load manipulator's gripper, simultaneously. The structure of the sensor is newly modeled. Piezoelectric quartz is chosen as force sensing element to realize real-time measurement. In order to investigate the validity of the proposed method, a prototype of piezoelectric 6-component heavy force/moment sensor is developed, and a characteristic test of the piezoelectric 6-component heavy force/moment sensor is performed. The experiments show that the linearity of the sensor is no more than 1%, and the interference errors are less than 3%. The carrying capability of force sensor is improved greatly by using load distribution. Crown Copyright (C) 2009 Published by Elsevier Ltd. All rights reserved.