Accuracy Analysis and Experimental Study of a Six-Dimensional Force Sensor with Circular Flexible Spherical Joints.

Zhijun Wang, Xiaotao Zhang, Mengxiang Li

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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0citing papers in PubMed

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1 · What the graph read from it

What it found

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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

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0 citing papers in PubMed.

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4 · The record

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5 · Who and what money

Authors and funding

3 authors.

Zhijun WangCollege of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China.

Xiaotao ZhangCollege of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China.ORCID 0009-0006-9379-5755

Mengxiang LiCollege of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China.ORCID 0009-0004-0559-0377

Funding

Key Science and Technology Projects of the Scientific Research Program of Higher Education Institutions in Hebei Province ZD2020151Science and Technology Innovation Team Training Plan Project of Tangshan 21130208Dthe National Natural Science Foundation of China 51505124

6 · The paper itself

Abstract

This paper proposed a circular flexible spherical joint to reduce the processing difficulty and manufacturing cost, and design a six-dimensional force sensor based on it. This paper analyzes the influence of the structural parameters of the flexible spherical joints on the accuracy of the six-dimensional force sensor by comparing the force mapping matrix of flexible spherical and ideal spherical joints. As the force mapping matrix is related to the stiffness matrix, the stiffness matrix of a six-dimensional force sensor based on a circular flexible spherical joint and the force mapping matrix of the generalized external force acting on the sensor was derived. Finally, a set of optimal parameters was selected to create a prototype and was verified through finite elements and experiments. The results show that the six-dimensional force sensor with a circular flexible spherical joint has good accuracy and provides some guidance for the design and analysis of the sensor.

Indexed as

circular flexible spherical jointsforce mapping matrixsix-dimensional force sensorstiffness matrix

Identifiers

PMID37631782

DOI10.3390/s23167247

PMCPMC10458873

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.