Using the Own Flexibility of a Climbing Robot as a Double Force Sensor

Jose Andrés Somolinos; Rafael Morales; Carlos Morón; Alfonso Garcia

doi:10.4028/www.scientific.net/KEM.495.91

Paper Titles

Optical Electronic Nose Based on Fe (III) Complex of Porphyrins Films for Detection of Volatile Compounds
p.75

Detection of Formaldehyde Using Plasmonic Properties of Gold Nanoparticles
p.79

Improved Selectivity of Oxidized Multiwall Carbon Nanotube Network for Detection of Ethanol Vapor
p.83

Polymer Coated Microfabricated Interdigitated Electrodes Arrays for Gas Sensing Applications
p.87

Using the Own Flexibility of a Climbing Robot as a Double Force Sensor
p.91

Study and Application of Micrometric Alignment on the Prototype Girders of the CLIC Two-Beam Module
p.96

Oxhydroelectric Effect: Electricity from Water by Twin Electrodes
p.100

Experimental Evidence of a Neutron Flux Generation in a Plasma Discharge Electrolytic Cell
p.104

Growth, Structural and Mechanical Characterization and Reliability of Chemical Vapor Deposited Co and Co₃O₄ Thin Films as Candidate Materials for Sensing Applications
p.108

HomeKey Engineering MaterialsKey Engineering Materials Vol. 495Using the Own Flexibility of a Climbing Robot as a...

Using the Own Flexibility of a Climbing Robot as a Double Force Sensor

Abstract:

Force sensors are used when interaction tasks are carried out by robots in general, and by climbing robots in particular. If the mechanics and electronics systems are contained inside the own robot, the robot becomes portable without external control. Commercial force sensors cannot be used due to limited space and weight. By selecting the links material with appropriate stiffness and placing strain gauges on the structure, the own robot flexibility can be used such as force sensor. Thus, forces applied on the robot tip can be measured without additional external devices. Only gauges and small internal electronic converters are necessary. This paper illustrates the proposed algorithm to achieve these measurements. Additionally, experimental results are presented.

You might also be interested in these eBooks

Materials and Applications for Sensors and Transducers

View Preview

Info:

Periodical:

Key Engineering Materials (Volume 495)

Pages:

91-95

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.495.91

Citation:

Cite this paper

Online since:

November 2011

Authors:

Jose Andrés Somolinos, Rafael Morales, Carlos Morón, Alfonso Garcia

Keywords:

Climbing Robot, Flexible Robot, Force Sensor, Mechanism

Export:

RIS, BibTeX

Price:

Permissions:

Request Permissions

References

[1] Ati Industrial Automation. Multi-Axis Force/Torque Sensor. www. ati-ia. com.

Google Scholar

[2] C. Balaguer; A. Giménez; A. Jardón. The MATS robot: Service Climbing Robot for Personal Assistance,. IEEE Robotics & Automation Magazine. Vol. 13. N. 1. pp.51-58. (2006).

DOI: 10.1109/mra.2006.1598053

Google Scholar

[3] Feliu, V., García A., Somolinos J.A., Experimental Testing of a Gauge Based Collision Detection Mechanism for a new 3DOF Flexible Robot, Journal Robotics Systems. Vol. 20, N. 6 pp.271-284 (2003).

DOI: 10.1002/rob.10086

Google Scholar

[4] Feliu, V., García A., Somolinos J.A., Gauge Based Tip Position Control of a new Three-degree-of-freedom Flexible Robot, Journal of Robotics Research. Vol. 20 N8 pp.660-675, (2001).

DOI: 10.1177/02783640122067598

Google Scholar

[5] V.D. Scheinman, Design of a computer controlled manipulator, Ph.D. Thesis. Stanford University. (1969).

Google Scholar

[6] L. Sciaviccco and B Siciliano Modelling and Control of Robot Manipulators, Springer Verlag. (2000).

Google Scholar

[7] J.A. Somolinos, V. Feliu and L. Sánchez Design, Dynamic Modeling and Experimental Validation of a New Three-Degree-Of-Freedom Flexible Arm,. Mechatronics. Vol. 12 (7) pp.919-948. (2002).

DOI: 10.1016/s0957-4158(01)00033-2

Google Scholar