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- W2079774525 abstract "This paper proposes design optimization of a mechanically decoupled six-axis F/T sensor. In order to indicate thebiggest cross coupling error of a Maltese cross type F/T six-axis sensor, principal error is proposed in this paper.Locations of twenty-four strain gages are determined and four design variables are selected to solve optimizationproblem. The average of principal couplings and output strain levels are chosen as the objective function and theconstraints respectively. An effective optimization framework is suggested, which utilizes interaction between FEMsoftware ANSYS and MATLAB by using morphing technique. As a result of optimization, the biggest coupling error isreduced from about 35% to 2.5%, which is satisfactory for use of mechanically decoupled six-axis F/T sensors.Experimental verification is conducted and it is shown that there is maximum 5.1 % difference in strain outputs ofnumerical and experimental results, which verifies the validity of suggested FE model. The design formulation andframework proposed in this study are expected to promote researches on multi-axis F/T sensors and theircommercialization in various industries." @default.
- W2079774525 created "2016-06-24" @default.
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- W2079774525 date "2014-03-08" @default.
- W2079774525 modified "2023-10-18" @default.
- W2079774525 title "Optimal design of a mechanically decoupled six-axis force/torque sensor based on the principal cross coupling minimization" @default.
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- W2079774525 doi "https://doi.org/10.1117/12.2044744" @default.
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