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Indexed by:期刊论文

Date of Publication:2009-07-01

Journal:MECHANICAL SYSTEMS AND SIGNAL PROCESSING

Included Journals:SCIE、EI

Volume:23

Issue:5

Page Number:1644-1651

ISSN No.: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.