In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive...In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.展开更多
The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on...The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on the Stewart platform structure, which can be used for the force measurement of the robot wrist, is proposed, and its structural optimal design, finite element analysis and calibration experimentation is presented. The characteristic of the sensor structure is analyzed in comparison with the traditional Stewart platform-based sensor. The mathematical expression of the sensor＇s force mapping matrix is introduced. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performances of isotropy and sensitivity of the sensor respectively. The optimal design of the sensor structure is performed with the objective of achieving high measurement sensitivity and good isotropy. The sensor prototype is fabricated, and the static and dynamic characteristics of the sensor are analyzed with finite element analysis software package ANSYS. The calibration device is manufactured, and the data acquisition and processing system is developed. The theoretical and experimental study of the static calibration of the sensor prototype is carried out. The results of simulation analysis and calibration experimentation prove the feasibility of the hyperstatic sensor structure, and the contents of this paper possess theoretical significance and engineering value for the further research and practical application of the six-component force sensor.展开更多
A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the forc...A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.展开更多
Robot＇s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equa...Robot＇s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equation of robot＇s termination with the error is established,and then,an error matrix and an error compensation matrix of the motion equation are also defined.An on-line error＇s compensation method is put forward to decrease the displacement error,which is a degree of millimeter,shown by the result of simulation of PUMA562 robot.展开更多
The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structur...The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of the space station manipulator project.展开更多
To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,wh...To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.展开更多
基金Project(SS2012AA041601)supported by National High Technology Research and Development Program of ChinaProject(81201150)supported by the National Natural Science Foundation of China
文摘In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.
基金supported by National Natural Science Foundation of China (Grant No. 50575192)Hebei Provincial Natural Science Foundation of China (Grant No. E2007000349)
文摘The six-component force/torque sensor has become one kind of the most important sensors with the ability of measuring all the external forces and torques. A novel hyperstatic six-component force/torque sensor based on the Stewart platform structure, which can be used for the force measurement of the robot wrist, is proposed, and its structural optimal design, finite element analysis and calibration experimentation is presented. The characteristic of the sensor structure is analyzed in comparison with the traditional Stewart platform-based sensor. The mathematical expression of the sensor＇s force mapping matrix is introduced. The condition number and generalized amplifying coefficient defined by singular values of force Jacobian matrix are used to evaluate the performances of isotropy and sensitivity of the sensor respectively. The optimal design of the sensor structure is performed with the objective of achieving high measurement sensitivity and good isotropy. The sensor prototype is fabricated, and the static and dynamic characteristics of the sensor are analyzed with finite element analysis software package ANSYS. The calibration device is manufactured, and the data acquisition and processing system is developed. The theoretical and experimental study of the static calibration of the sensor prototype is carried out. The results of simulation analysis and calibration experimentation prove the feasibility of the hyperstatic sensor structure, and the contents of this paper possess theoretical significance and engineering value for the further research and practical application of the six-component force sensor.
基金supported by the Open Foundation of Graduate Innovation Base(Laboratory)of Nanjing University of Aeronautics and Astronautics (No.kfjj20170512)the National Natural Science Foundation of China(No. 51175263)
文摘A six-axis force sensor with parallel 8/4-4 structure is introduced and its measurement principle is analyzed.Based on condition numbers of Jacobian matrix spectral norm of the sensor,the relationship between the force and moment isotropy and some structural parameters is deduced.Orthogonal test methods are used to determine the degree of primary and secondary factors that have significant effect on sensor characteristics.Furthermore,the relationship between each performance index and the structural parameters of the sensor is analyzed by the method of the atlas,which lays a foundation for structural optimization design of the force sensor.
基金This project is supported by National Hi-tech Research and Development Program of China(863 Program,No.2001AAA423300)Provincial Natural Science Foundation of Anhui,China(No.00043310)
文摘Robot＇s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with.It is revealed that the reasons of the error are formed and the relations of the error are delivered.A motion equation of robot＇s termination with the error is established,and then,an error matrix and an error compensation matrix of the motion equation are also defined.An on-line error＇s compensation method is put forward to decrease the displacement error,which is a degree of millimeter,shown by the result of simulation of PUMA562 robot.
基金supported by the National Natural Science Foundation of China(No.51875250)a Project of Shandong Province Higher Educational Youth Innovation Science and Technology Program,China(No.2019KJB018)a Project of the“20 Regulations for New Universities”Funding Program of Jinan,China(No.202228116)。
文摘The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of the space station manipulator project.
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.
文摘针对电助力自行车的动态力矩测量,设计一种基于穿隧磁阻(Tunneling Magneto Resistive,TMR)的一维力/力矩的检测系统以及一种无线数能同传系统,用于测量人体在骑行过程中,施加在中轴上的力矩,并实现力矩传感器信号的多级放大以及信号采集软件和硬件的设计。应用控制器局域网络(Controller Area Network,CAN)总线接口与外部上层控制器通信,实时计算和传递电助力自行车骑行过程中的力矩信号。实验结果证明,该传感系统能够完成脚底踩踏力矩信息的实时采集、计算与通信。
