Design and calibration of a novel piezoelectric six-axis force/torque sensor

Lan Qin; Chao Jiang; Jun Liu; Ying Duan

doi:10.1117/12.903717

15 November 2011 Design and calibration of a novel piezoelectric six-axis force/torque sensor

Lan Qin, Chao Jiang, Jun Liu, Ying Duan

Proceedings Volume 8321, Seventh International Symposium on Precision Engineering Measurements and Instrumentation; 83210G (2011) https://doi.org/10.1117/12.903717
Event: Seventh International Symposium on Precision Engineering Measurements and Instrumentation, 2011, Yunnan, China

Abstract

This paper describes the design and the calibration of a novel parallel piezoelectric six-axis force/torque sensor. A new force-sensing cell distribution model has been investigated: eight piezoelectric quartz crystal cells are uniformly distributed along one circle line to get the spatial force information. The mathematic model of the method has been deeply researched, established and calculated. In this paper, the negative step response method is calibrated to evaluate the dynamic response of the sensor: the calibration force acting on the sensor is suddenly removed by breaking a brittle material. Based on the experimental data of the calibration, the natural frequency, dynamic range as well as coupling interference of the sensor are analyzed and discussed. The new force-sensing cell distribution model may overcome some disadvantages of present six-axis force sensor, such as improving the overall stiffness of the sensing system, and meanwhile, reducing the coupled interference.

Citation Download Citation

Lan Qin, Chao Jiang, Jun Liu, and Ying Duan "Design and calibration of a novel piezoelectric six-axis force/torque sensor", Proc. SPIE 8321, Seventh International Symposium on Precision Engineering Measurements and Instrumentation, 83210G (15 November 2011); https://doi.org/10.1117/12.903717

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