Analytical models for designing force sensors

M. M. Svinin, M. Uchiyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper presents a systematic analysis of force sensors at the design stage. A generalized model of the sensors is developed on the basis of static and kinematic equations, and the block form of the resulting strain compliance matrix of the sensor is obtained. The model developed is then applied to the analysis of the two and three-dimensional sensor schemes corresponding to the regular polygons and polyhedrons. The condition number of the normalized strain compliance matrix of the sensor is used as the performance index. Impossibility of reaching the optimal values of this criterion is stated for the regular-polygon-form-based sensors. Partial solutions of the optimization problem are found out for the regular-polyhedron-form-based sensors. The presentation of the material is illustrated by analytical examples.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages1778-1783
Number of pages6
Editionpt 2
ISBN (Print)0818653329
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period5/8/945/13/94

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All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

Cite this

Svinin, M. M., & Uchiyama, M. (1994). Analytical models for designing force sensors. In Proceedings - IEEE International Conference on Robotics and Automation (pt 2 ed., pp. 1778-1783). Publ by IEEE.