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Area of Science:

  • Robotics and Mechanical Engineering
  • Sensor Technology
  • Materials Science

Background:

  • Accurate force/moment (F/M) measurements are crucial across numerous applications.
  • Multi-axis F/M sensors have been integral to robotic systems since the 1970s.
  • Existing sensors measure forces (Fx, Fy, Fz) and moments (Mx, My, Mz) simultaneously.

Purpose of the Study:

  • To present experimental and theoretical methods for creating efficient, high-performance multi-axis F/M sensors.
  • To introduce a novel approach utilizing modular elastic elements (EE).
  • To demonstrate the versatility of this method for diverse applications.

Main Methods:

  • Employing combinations of simple modular elements, such as lamella and diaphragm.
  • Utilizing monolithic constructions for sensor development.
  • Establishing theoretical models for the multi-axis F/M sensors.

Main Results:

  • Demonstrated the feasibility of using modular EEs for multi-axis F/M sensor construction.
  • Experimental validation of the developed sensor models.
  • The approach allows for the creation of various multi-axis F/M sensor configurations.

Conclusions:

  • The proposed modular EE approach offers an efficient pathway to high-performance multi-axis F/M sensors.
  • This method is adaptable for developing sensors for a wide range of applications.
  • The findings support the broad applicability of this novel sensor design strategy.