Abstract
The six-axis force sensor is an indispensable component for the teleoperation robot to realize force sensing. It can be used to detect the force and moment generated when the robot is in contact with the target. In order to satisfy the usage requirements of teleoperation robots, a miniaturized wireless six-axis force sensor based on the principle of resistance strain is proposed in this paper. Firstly, the stepped cross beam structural elastic body is designed, and the optimal structural size of the sensor is determined by simulation analysis using ANSYS software. Secondly, the bridge circuit, amplifier circuit, signal processing and transmitting circuit of the sensor are designed to realize the wireless transmission of sensor data, which improves the flexibility and environmental adaptability of the sensor. The experimental results show that the indoor transmission distance of the sensor can reach 8 m, and the class I and class II errors reach the high precision standard of the six-dimensional force sensor.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Song, A.G.: Force-sensing teleoperation robot (1): the development and current status of technology. J. Nanjing Univ. Inform. Sci. Technol. 5(01), 1–19 (2013)
Yi, R.Z., Li, H.L., Song, A.G.: Man-machine interaction system for robot tele-operation based on multiple sensors. Meas. Control. Technol. 37(09), 56–59 (2018)
Zhou, C.F., Wang, L.: Welding information acquisition system of tele-operation welding robot. Weld. Join. 07(01), 1–6 (2018)
Song, A.G.: Research on the technology of human-computer interaction and tele-presence tele-operation robot. Sci. Technol. Rev. 33(23), 100–109 (2015)
Song, A.G., Ni, D.J.: Force tele-presence tele-robot (4): evaluation of operational performance. J. Nanjing Univ. Inform. Sci. Technol. 6(03), 211–220 (2014)
Ni, Z.Q., Miao, W., Liu, Z.D.: Survey on medical robotics. J. Mech. Eng. 51(13), 45–52 (2015)
Liu, M.Z., Tuo, X., Li, G.Z., et al.: Research on the application of robots in comprehensive monitoring in nuclear emergency radiation environment. Robot. Appl. 03(01), 21–23 (2011)
Dong, Y.C., Liu, Q.S., Qian, J.H.: Research on characteristics and test methods of robots used for disaster relief in nuclear power plants. Robot. Appl. 05(01), 33–35 (2013)
Zhao, J.C.: China’s first cargo spacecraft, Tianzhou-1, successfully docked with Tiangong No. 2 space laboratory. Science 03(01), 31 (2017)
Vanko, B., Stanček, L., Čeretka, M., et al.: Properties of EN AW-2024 wrought aluminum alloy after casting with crystallization under pressure. Sci. Proc. Fac. Mech. Eng. 23(1), 58–65 (2015)
Payo, I.: Six-axis column-type force and moment sensor for robotic applications. IEEE Sens. J. 18(17), 6996–7003 (2018)
Li, A.: Design and application of miniaturized multi-dimension force sensor. Southeast University, Electronic Engineering (2017)
Zhang, Y.Q.: The impact analyses of zero drift in differential amplifier circuit. Metrol. Measure. Technol. 37(05), 51–52 (2017)
Wang, W.M., Fan, X.Z.: Signal detection system based on TL084C. Electron. Compon. Device Appl. 12(06), 24–26+30 (2010)
Mao, C., Song, A.G., Gao, X., Xu, G.Z.: Research and application of static decoupling algorithm for six - axis force/torque sensor. Chin. J. Sens. Actuators 28(02), 205–210 (2015)
Wu, X.X., Song, A.G., Wang, Z.: The study on static decoupling algorithm for six-axis force sensor and static calibration. Chin. J. Sens. Actuators 26(06), 851–856 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Chen, W., Yang, S., Hu, Q., Song, A. (2019). Design of a Wireless Six-Axis Wrist Force Sensor for Teleoperation Robots. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_61
Download citation
DOI: https://doi.org/10.1007/978-3-030-27532-7_61
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27531-0
Online ISBN: 978-3-030-27532-7
eBook Packages: Computer ScienceComputer Science (R0)