On the dynamic behavior of a wrist force sensor for robots

Author

Chen, X.B. ; Li, Y.F.

Author_Institution

Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon, Hong Kong

Volume

2

fYear

1997

fDate

19-21 May 1997

Firstpage

963

Abstract

A wrist force sensor is an essential component in controlling robot interactions with the environment. In the past years, many kinds of wrist force sensors have been designed and developed. However, in the development of such sensors, the dynamic behavior of the sensors has rarely been investigated due to the complexity involved. To provide the designers and users of the sensors with insights into the dynamic performance of a designed sensor, we present in this paper the study of the dynamic behavior of the sensor. First of all, the dynamic behavior of typical sensing elements of the sensor is analyzed. Then a dynamic model of a wrist force sensor is developed, taking into account the effects of the mass and orientation of the end effector of a robot. Finally, a computer simulation is carried out in both time-domain and frequency domain, highlighting the effects of the end effector of a robot on the dynamic behavior of the sensor

Keywords

bending; compressive strength; digital simulation; force measurement; mechanical engineering computing; robot dynamics; sensors; shear deformation; simulation; tensile strength; bending deformation; computer simulation; dynamic behavior; dynamic model; dynamic performance; end effector; frequency domain; mass effect; orientation effect; robots; shearing deformation; tensile compressive deformation; time-domain; wrist force sensor; End effectors; Force measurement; Force sensors; Frequency domain analysis; Manufacturing; Mechanical sensors; Research and development management; Robot sensing systems; World Wide Web; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation and Measurement Technology Conference, 1997. IMTC/97. Proceedings. Sensing, Processing, Networking., IEEE

Conference_Location

Ottawa, Ont.

ISSN

1091-5281

Print_ISBN

0-7803-3747-6

Type

conf

DOI

10.1109/IMTC.1997.610280

Filename

610280