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Abstract | ||
|---|---|---|
In this article, we present a fiber Bragg grating (FBG) based 6-D force/torque (F/T) sensor that can be mounted on robot joints for the detection of comprehensive F/T information. The sensor is designed based on a new concept of multilayer measurement in which the elastic structure is divided into four layers. A single optical fiber inscribed with 12 FBGs is symmetrically attached to the elastic structure to sense F/T-induced strains by means of differential measurements. Because of the mechanical decoupling function of the structure and the reasonable arrangement of the FBG sensing elements, the designed sensor possesses a great advantage of low cross coupling compared with the existing 6-D F/T sensors, which simplifies the calibration and maintenance of the sensor. Calibration experiments demonstrate high resolutions of 7.8 N·mm, 7.2 N·mm, 15.8 N·mm, 0.0067 N, 0.0066 N, and 0.0825 N within the range of ±1.56 N·m, ±1.56 N·m, ±1.56 N·m, ±10 N, ±10 N, and ±25 N for the detection of M
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Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/TIE.2020.2982107 | IEEE Transactions on Industrial Electronics |
Keywords | DocType | Volume |
Fiber Bragg grating (FBG),low coupling,robot,six-dimensional (6-D) force/torque (F/T) sensor | Journal | 68 |
Issue | ISSN | Citations |
5 | 0278-0046 | 2 |
PageRank | References | Authors |
0.40 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiong Li | 1 | 28 | 7.79 |
| Yongxing Guo | 2 | 2 | 1.08 |
| Guozhang Jiang | 3 | 172 | 27.25 |
| Xinglin Zhou | 4 | 2 | 0.40 |
| Lin Jiang | 5 | 543 | 38.42 |
| Honghai Liu | 6 | 1974 | 178.69 |