Gravity compensation and output data decoupling of a novel six-dimensional force sensor
Abstract A shunt three-legged parallel six-dimensional force sensor has been designed for more precise measurement of six-dimensional force/moment information. The theoretical static force model of the sensor was established based on the equivalent of a six-bar closed-loop parallel mechanism. The sensor has been experimentally calibrated under a given external load, and the neural network method has been utilized to nonlinearly fit the experimental data and achieve decoupling. Furthermore, a novel gravity compensation method for the six-dimensional force sensor of the wrist of a robot has been proposed based on the CAD variable geometry method. The positive solution of the position of the parallel robot is simulated through a wire-frame diagram, enabling accurate estimation and correction of the sensor. Experimental validation has confirmed the feasibility of the compensation algorithm.
- Location
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Deutsche Nationalbibliothek Frankfurt am Main
- Extent
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Online-Ressource
- Language
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Englisch
- Bibliographic citation
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Gravity compensation and output data decoupling of a novel six-dimensional force sensor ; volume:15 ; number:1 ; year:2024 ; pages:367-383 ; extent:17
Mechanical sciences ; 15, Heft 1 (2024), 367-383 (gesamt 17)
- Creator
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Wang, Yongli
Jin, Ke
Li, Xiao
Cao, Feifan
Yu, Xuan
- DOI
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10.5194/ms-15-367-2024
- URN
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urn:nbn:de:101:1-2405300416298.632817364762
- Rights
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Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Last update
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14.08.2025, 10:56 AM CEST
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Associated
- Wang, Yongli
- Jin, Ke
- Li, Xiao
- Cao, Feifan
- Yu, Xuan
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