NOVEL DECOUPLED AND ISOTROPIC 5-AXIS FORCE/TORQUE ROBOT SENSOR

Abstract

Abstract: The design feature of a novel 5-axis force/torque robot sensor based on parallel 4-SPS&1-UPU architecture is presented. The isotropy index of the sensor and the transformation between of force and strain are analyzed, which is useful for the optimal design and application of the sensor. The results show that the sensor is decoupled and isotropic. Because the elastic joints are proposed for the real spherical joints and the real universal joints, the sensor has dexterous architecture and good technological advantage. It can be applied to robotic finger, etc.

Key words: Force sensor, Isotropy, mechanism, Parallel, Robot, Control, Dressing, Radial circular run-out error, Threshold value, Monolayer abrasive grinding wheel

CLC Number:

TP242 TM930.2

Gao Feng;Chen Yulong;Peng Binbin;Li Weimin;Zhang Jianjun. NOVEL DECOUPLED AND ISOTROPIC 5-AXIS FORCE/TORQUE ROBOT SENSOR[J]. , 2004, 40(9): 71-74.

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NOVEL DECOUPLED AND ISOTROPIC 5-AXIS FORCE/TORQUE ROBOT SENSOR

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