Sensors, Focus on Tactile, Force and Stress Sensors 2011 Part 4

Tham khảo tài liệu 'sensors, focus on tactile, force and stress sensors 2011 part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | High-Sensitivity and High-Stiffness Force Sensor Using Strain-Deformation Expansion Mechanism 81 28 where x and Y denote the beams respectively along X-axis and Y -axis. Thereby we can know that there exist linear relations between an applied 3-axis force and the proposed sensor s strains. According to eq. 28 the sensitivity and stiffness of the proposed sensing mechanism can be regulated within a certain extent by the designing of the sensor s dimensions and material. C. Sensor s sensitivity and expansion rate of sensitivity This subsection discusses the expansion rate of sensitivity of the proposed sensing mechanism for a certain applied force. For this purpose the strain on the proposed sensor will be compared with the strain on the beam which was employed for force sensing in previous methods. In this paper the sensitivity of joint torque sensor is defined as the magnitude of the strain for sensing for every unit force. At first about the previous method which directl sticks gauges on the crossing beams the strains on beam cz and ecx corresponding to forces Fz and Fx are represented as eqs. 1 and 2 respectively. Accordingly their sensitivity can be expressed as ecz xH Fz 8ECIC Y-cx __ CxH Fx 2LECIC On the other hand the sensitivity of the proposed sensor can be written as lx _ lx gc F c F From eqs. 19 21 and 29 30 ij will be Eix _ 01 h h Esbh2 x - L 2Ỵ L2 4 - X2 cz . 2ZJ2 6ECIC _ xH eix _ Zi Z2 i Esbh2 2x2 - xL L2 ff -cx 2Z Z2 6LEcIc X2 L2 12 29 30 31 32 33 When 5 c is larger than 1 sensitivity 5I r F will be larger than ec F . In this paper 5 is referred to as Expansion Rate of Sensitivity relative to a strain on beams. 82 Sensors Focus on Tactile Force and Stress Sensors As the above discussion by means of the proposed joint torque sensor the applied force can be sensed by expanding the strain-deformation on beams. The sensor will be referred to as SDEM Strain- Deformation Expansion Mechanism Force Sensor hereafter. 4. Basic characteristics and .

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