<abstract xmlns="http://www.w3.org/1999/xhtml"> This paper presents the design and analysis of a six-component Force/Torque (F/T) sensor whose design is based on the mechanism of the Compliant Parallel Mechanism (CPM). The force sensor is used to measure forces along the x-, y-, and z-axis (Fx, Fy and Fz) and moments about the x-, y-, and z-axis (Mx, My and Mz) simultaneously and to provide passive compliance during parts handling and assembly. Particularly, the structural design, the details of the measuring principle and the kinematics are presented. Afterwards, based on the Design of Experiments (DOE) approach provided by the software ANSYS®, a Finite Element Analysis (FEA) is performed. This analysis is performed with the objective of achieving both high sensitivity and isotropy of the sensor. The results of FEA show that the proposed sensor possesses high performance and robustness.</abstract>

This paper presents the design and analysis of a six-component Force/Torque (F/T) sensor whose design is based on the mechanism of the Compliant Parallel Mechanism (CPM). The force sensor is used to measure forces along the x-, y-, and z-axis (Fx, Fy and Fz) and moments about the x-, y-, and z-axis (Mx, My and Mz) simultaneously and to provide passive compliance during parts handling and assembly. Particularly, the structural design, the details of the measuring principle and the kinematics are presented. Afterwards, based on the Design of Experiments (DOE) approach provided by the software ANSYS®, a Finite Element Analysis (FEA) is performed. This analysis is performed with the objective of achieving both high sensitivity and isotropy of the sensor. The results of FEA show that the proposed sensor possesses high performance and robustness.

Design and Analysis of a Novel Six-Component F/T Sensor based on CPM for Passive Compliant Assembly

College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China

Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, Canada L1H 7K4

State Key Laboratories of Transducer Technology, Institute of Intelligent Machines, Chinese Academy of Science, Hefei, Anhui 230031, China

Measurement Science Review

This paper presents the design and analysis of a six-component Force/Torque (F/T) sensor whose design is based on the mechanism of the Compliant Parallel...

Design and Analysis of a Novel Six-Component F/T Sensor based on CPM for Passive Compliant Assembly

Published Online: Nov 02, 2013

Page range: 253 - 264

DOI: https://doi.org/10.2478/msr-2013-0038

Keywords
Compliant Parallel Mechanism, Passive Compliant Assembly, Six-component F/T sensor

This content is open access.

Design and Analysis of a Novel Six-Component F/T Sensor based on CPM for Passive Compliant Assembly

Published Online: Nov 02, 2013

Page range: 253 - 264

DOI: https://doi.org/10.2478/msr-2013-0038

KeywordsCompliant Parallel Mechanism, Passive Compliant Assembly, Six-component F/T sensor

This content is open access.

Keywords
Compliant Parallel Mechanism, Passive Compliant Assembly, Six-component F/T sensor