loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Jun Huang 1 ; Chu Yan Wong 1 ; Duc Truong Pham 1 ; Yongjing Wang 1 ; Chunqian Ji 1 ; Shizhong Su 1 ; Wenjun Xu 2 ; Quan Liu 2 and Zude Zhou 2

Affiliations: 1 Department of Mechanical Engineering, School of Engineering, University of Birmingham, Birmingham, B15 2TT and U.K. ; 2 School of Information Engineering, Wuhan University of Technology, Wuhan, 430070 and China

Keyword(s): Six-Axis Force/Torque Sensor, Robotic Application, Optical Fibre Sensing, Fibre Bragg Grating (FBG).

Related Ontology Subjects/Areas/Topics: Force and Tactile Sensors ; Informatics in Control, Automation and Robotics ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: Force and torque information is critical to enabling intelligent control of a robot in complex robotic applications. This paper presents a novel six-axis force/torque sensor based on optical fibre sensing for robotic applications in extreme environments with intense electromagnetic interference as well as explosive and inflammable materials. The designed sensor employs an elastic sensing element composed of 4 compliant beams and 4 elastic cross beams to convert the measured forces and torques to the strain on the surfaces of elastic cross beams, which is detected by 16 Fibre Bragg Gratings (FBGs). The strain is calculated by theoretical analysis using Timoshenko beam theory and validated by Finite Element Analysis (FEA). Working matrix of the sensor is constructed, which is associated with the relationships between the measured forces and torques and the wavelength shifts of FBGs. The sensitive coefficients obtained by theoretical analysis and FEA simulation are in good agreement, wh ich indicates that the analytical method is accurate. The proposed six-axis force/torque sensor with low cost and high reliability has great potential in robotic applications in harsh industrial environments. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.90.205.166

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Huang, J.; Wong, C.; Pham, D.; Wang, Y.; Ji, C.; Su, S.; Xu, W.; Liu, Q. and Zhou, Z. (2018). Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 517-524. DOI: 10.5220/0006911705170524

@conference{icinco18,
author={Jun Huang. and Chu Yan Wong. and Duc Truong Pham. and Yongjing Wang. and Chunqian Ji. and Shizhong Su. and Wenjun Xu. and Quan Liu. and Zude Zhou.},
title={Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2018},
pages={517-524},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006911705170524},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications
SN - 978-989-758-321-6
IS - 2184-2809
AU - Huang, J.
AU - Wong, C.
AU - Pham, D.
AU - Wang, Y.
AU - Ji, C.
AU - Su, S.
AU - Xu, W.
AU - Liu, Q.
AU - Zhou, Z.
PY - 2018
SP - 517
EP - 524
DO - 10.5220/0006911705170524
PB - SciTePress