Gravity compensation and output data decoupling of a novel six-dimensional force sensor
| Autor: | Y. Wang, K. Jin, X. Li, F. Cao, X. Yu |
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| Jazyk: | angličtina |
| Rok vydání: | 2024 |
| Předmět: | |
| Zdroj: | Mechanical Sciences, Vol 15, Pp 367-383 (2024) |
| Druh dokumentu: | article |
| ISSN: | 2191-9151 2191-916X |
| DOI: | 10.5194/ms-15-367-2024 |
| Popis: | A shunt three-legged parallel six-dimensional force sensor has been designed for more precise measurement of six-dimensional force/moment information. The theoretical static force model of the sensor was established based on the equivalent of a six-bar closed-loop parallel mechanism. The sensor has been experimentally calibrated under a given external load, and the neural network method has been utilized to nonlinearly fit the experimental data and achieve decoupling. Furthermore, a novel gravity compensation method for the six-dimensional force sensor of the wrist of a robot has been proposed based on the CAD variable geometry method. The positive solution of the position of the parallel robot is simulated through a wire-frame diagram, enabling accurate estimation and correction of the sensor. Experimental validation has confirmed the feasibility of the compensation algorithm. |
| Databáze: | Directory of Open Access Journals |
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