Release Time:2019-03-09  Hits:

Indexed by: Journal Article

Date of Publication: 2009-07-01

Journal: MECHANICAL SYSTEMS AND SIGNAL PROCESSING

Included Journals: EI、SCIE

Volume: 23

Issue: 5

Page Number: 1644-1651

ISSN: 0888-3270

Key Words: 6-Component force/moment; Heavy force; Load distribution; Piezoelectric quartz; Interference error

Abstract: 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.