Browse > Article
http://dx.doi.org/10.7736/KSPE.2012.29.2.170

Development of Multi-Degree of Freedom Carbon Fiber Plate Force/Torque Sensor  

Lee, Dong-Hyeok (Department of Mechanical Design and Mechatronics, Graduate School of Hanyang Univ.)
Kim, Min-Gyu (Department of Mechanical Design and Mechatronics, Graduate School of Hanyang Univ.)
Cho, Nahm-Gyoo (Department of Mechanical Engineering, Hanyang Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.2, 2012 , pp. 170-177 More about this Journal
Abstract
A force/torque sensor using carbon fiber plate was designed and developed to make the sensor be able to measure a wide range of multi degree of force and torque. Using carbon fiber plate of 0.3 mm thickness, the sensor was designed and developed, which has a ${\mu}N$ level order of resolution and about 0.01 N ~ 390 N of wide measurement range. The elastic deformation part has a tripod plate structure and strain gauges are attached on the part to detect the force/torque. The coefficient of determination for the sensor is over 0.955 by the calibration experiment so that the linearity of the sensor is confirmed to be good. Also, experiments on applying 0.005 ~ 40 kg (0.05 ~ 390 N) to each axis were implemented and the sensor is proved to be safe under a high load. Finally, to verify the function calculating the direction of load vector, the directions of various load vectors which have the same magnitude but different directions and the directions of the calculated load vectors are compared and analyzed to accord well.
Keywords
Force/Torque Sensor; Carbon Fiber; Prepreg; Coordinate Measuring Machine (CMM) Touch Probe;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Kim, K. S., "Development of 6-axis Force/moment Sensor for Humanoid Robot's Head Reacting to a External Force," Journal of the KSPE, Vol. 26, No. 12, pp. 78-84, 2009.
2 ATI Industrial Automation, "Multi-Axis Force/Torque Sensor," ATI Industrial Automation, pp. 4-45, 2005.
3 Kuebler, B., Seibold, U. and Hirzinger, G., "Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability," IEEE International Conference on Robotics and Automation, pp. 406-501, 2005.
4 Park, J. J., Kwon, K. H. and Cho, N. G., "Development of a Coordinate Measuring Machine(CMM) Touch Probe using a Multi-axis Force Sensor," Measurement Science and Technology, Vol. 17, No. 9, pp. 2380-2386, 2006.   DOI
5 Pack, B. H. and Cho, N. G., "Development of 3-DOF Precision Force Sensor Using PVDF Film," Department of Mechanical Design and Mechatronics, Master of Science, Hanyang University, 2010.
6 Lee, D. H. and Cho, N. G., "3-Degree of Freedom Carbon Fiber Plate Force Sensor," Proceedings of KSPE Spring Conference, pp. 1089-1090, 2011.
7 Hochard, C., Payan, J. and Bordreuil, C., "A progressive first ply failure model for woven ply CFRP laminates under static and fatigue loads," International Journal of Fatigue, Vol. 28, No. 10, pp. 1270-1276, 2006.   DOI
8 Ernst, G., Vogler, M., Huhne, C. and Rolfes, R., "Multiscale progressive failure analysis of textile composites," Composites Science and Technology Vol. 70, No. 1, pp. 61-72, 2010.   DOI
9 Cho, N. G., "Coordinate measuring machine probe using force sensor," IUCF-HYU, No. 0961479, 2010.
10 Lee, D. H. and Cho, N. G., "Device for sensing force," IUCF-HYU, No.10-2011-0053063, 2011.
11 Kuebler, B., Seibold, U. and Hirzinger, G., "Development of Actuated and Sensor Integrated Forceps for Minimally Invasive Robotics Surgery," Int. J. Medical Robotics and Computer Assisted Surgery, Vol. 1, No. 3, pp. 96-107, 2005.   DOI
12 Milton, J. S. and Arnold, J. C., "Introduction to Probability and Statistics: Principles and Applications for Engineering and the Computing Sciences," McGraw-Hill, pp. 424-426, 2003.
13 Lee, M. H., Park, B. H., Kwon, J. H. and Cho, N. G., "3-DOF Precision Force Sensor Using PVDF film," Proceedings of KSPE Autumn Conference, pp. 709-710, 2010.
14 Lee, D. H., Lee, S. H. and Cho, N. G., "Attitude Error Compensation Method for 3-Degree of Freedom," Proceedings of KSPE Autumn Conference, pp. 711-712, 2010.