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 language | English |
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| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Publ by IEEE |
| Pages | 1778-1783 |
| Number of pages | 6 |
| Edition | pt 2 |
| ISBN (Print) | 0818653329 |
| Publication status | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA Duration: May 8 1994 → May 13 1994 |
Other
| Other | Proceedings of the 1994 IEEE International Conference on Robotics and Automation |
|---|---|
| City | San Diego, CA, USA |
| Period | 5/8/94 → 5/13/94 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering