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Dynamic Characteristics Analysis of the Six-Axis ForceTorque Sensor
Joint Authors
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-23
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
In this study, dynamic characteristics of a robot six-axis wrist force/torque (F/T) sensor with crossbeam elastomer are analyzed by two methods of model identification, a method for simultaneous identification of order and parameters of the model (SIM) and a method based on the differential evolution (DE) algorithm.
Firstly, by establishing the simplified mechanical model and finite element (FE) model, respectively, natural frequency of the six-axis wrist F/T sensor is calculated.
Secondly, dynamic calibration experiment is conducted.
Lastly, two dynamic models of the sensor are identified by SIM and DE methods and the dynamic characteristics of the sensor, such as natural frequency and working band, are further analyzed.
Comparing experimental values with the theoretical values, the results show that this sensor has a wide dynamic range with the first natural frequency at more than 1600 Hz, working bands (±5%) are more than 400 Hz, and the step response oscillation is intense.
This study can provide a reference for the application of the six-axis F/T sensor in the field of dynamic measurement.
American Psychological Association (APA)
Fu, Liyue& Song, Aiguo. 2018. Dynamic Characteristics Analysis of the Six-Axis ForceTorque Sensor. Journal of Sensors،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1201739
Modern Language Association (MLA)
Fu, Liyue& Song, Aiguo. Dynamic Characteristics Analysis of the Six-Axis ForceTorque Sensor. Journal of Sensors No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1201739
American Medical Association (AMA)
Fu, Liyue& Song, Aiguo. Dynamic Characteristics Analysis of the Six-Axis ForceTorque Sensor. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1201739
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201739