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Measuring Model and Design of the Novel Loaded Over-Constrained Parallel Six-Component Force/Torque Sensor

[+] Author Affiliations
Yanzhi Zhao, Chao Lu, Tieshi Zhao

Yanshan University, Qinhuangdao, Hebei, China

Paper No. IMECE2012-86814, pp. 269-275; 7 pages
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 by ASME


Based on constrained screw type synthesis theory, a novel spacial over-constrained parallel six-component force/torque sensor mechanism which contains 12 SS branches was proposed. Then considering the branches flexible deformation, with the supplementary deformation coordination and physical constitutive constraint equations, structural balance equations were established respectively in six one-way measurement states. The stress and mode of the whole over-constrained parallel six-component force sensor structure scheme were analyzed with the Finite Element Method (FEM), and the analysis results were contrasted and conclused that theoretical calculations and Finite Element Analysis of conclusion were coincide.

Copyright © 2012 by ASME
Topics: Torque , Sensors , Design



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