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Sensors 2014, 14(1), 659-671; doi:10.3390/s140100659
Article

Active Design Method for the Static Characteristics of a Piezoelectric Six-Axis Force/Torque Sensor

1,2,* , 1,2
,
1,2
 and
1,2
1 Key Laboratory of Optoelectronics Technology and Systems Ministry of Education, Chongqing University, Chongqing 400044, China 2 College of Optoelectronic Engineering, Chongqing University, Chongqing 400044, China
* Author to whom correspondence should be addressed.
Received: 11 October 2013 / Revised: 15 December 2013 / Accepted: 23 December 2013 / Published: 2 January 2014
(This article belongs to the Special Issue Tactile Sensors and Sensing Systems)
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Abstract

To address the bottleneck issues of an elastic-style six-axis force/torque sensor (six-axis force sensor), this work proposes a no-elastic piezoelectric six-axis force sensor. The operating principle of the piezoelectric six-axis force sensor is analyzed, and a structural model is constructed. The static-active design theory of the piezoelectric six-axis force sensor is established, including a static analytical/mathematical model and numerical simulation model (finite element model). A piezoelectric six-axis force sensor experimental prototype is developed according to the analytical mathematical model and numerical simulation model, and selected static characteristic parameters (including sensitivity, isotropic degree and cross-coupling) are tested using this model with three approaches. The measured results are in agreement with the analytical results from the static-active design method. Therefore, this study has successfully established a foundation for further research into the piezoelectric multi-axis force sensor and an overall design approach based on static characteristics.
Keywords: finite element; static characteristic; six-axis force/torque; piezoelectric sensor; active design theory finite element; static characteristic; six-axis force/torque; piezoelectric sensor; active design theory
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Liu, J.; Li, M.; Qin, L.; Liu, J. Active Design Method for the Static Characteristics of a Piezoelectric Six-Axis Force/Torque Sensor. Sensors 2014, 14, 659-671.

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