کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
727751 | 892792 | 2010 | 18 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Design and fabrication of a six-dimensional wrist force/torque sensor based on E-type membranes compared to cross beams
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper presents a novel device for measuring components of forces and moments along and about three orthogonal axes based on E-type membranes compared to conventional sensor based on cross beams. After design and analysis of both types of sensors, we chose to fabricate a six-dimensional wrist force/torque sensor based on E-type membranes. Furthermore, the calibration and decoupling based on Neural Network method were performed, and the sensor possesses excellent characteristics such as high measurement sensitivity, overload protection, good linearity, and weak couplings between components. Finally, its maximum interference error and nonlinearity error are 1.6% F.S. and 0.17% F.S., respectively.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Measurement - Volume 43, Issue 10, December 2010, Pages 1702–1719
Journal: Measurement - Volume 43, Issue 10, December 2010, Pages 1702–1719
نویسندگان
Qiaokang Liang, Dan Zhang, Quanjun Song, Yunjian Ge, Huibin Cao, Yu Ge,