Design of a motor bracket multi axis force/torque sensor
We report on the development of a multi axis force/torque sensor that is also a motor bracket, mounting between the motor and the frame. The shape of the bracket was designed to be sensitive to the two axis forces and one axis motor torque applied in the plane perpendicular to the direction of the motor shaft. By using four strain gauges, the described force/torque can be reconstructed. The relation between the forces/torque applied on the motor shaft and the strains in the bracket was investigated by using the commercial software Abaqus. By using the commercial multi axis force transducer as the reference, the sensor was empirically built, calibrated, and evaluated with both static and dynamic loads.
2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)