Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications

Jun Huang, Chu Yan Wong, Duc Truong Pham, Yongjing Wang, Chunqian Ji, Shizhong Su, Wenjun Xu, Quan Liu, Zude Zhou

2018

Abstract

Force and torque information is critical to enabling intelligent control of a robot in complex robotic applications. This paper presents a novel six-axis force/torque sensor based on optical fibre sensing for robotic applications in extreme environments with intense electromagnetic interference as well as explosive and inflammable materials. The designed sensor employs an elastic sensing element composed of 4 compliant beams and 4 elastic cross beams to convert the measured forces and torques to the strain on the surfaces of elastic cross beams, which is detected by 16 Fibre Bragg Gratings (FBGs). The strain is calculated by theoretical analysis using Timoshenko beam theory and validated by Finite Element Analysis (FEA). Working matrix of the sensor is constructed, which is associated with the relationships between the measured forces and torques and the wavelength shifts of FBGs. The sensitive coefficients obtained by theoretical analysis and FEA simulation are in good agreement, which indicates that the analytical method is accurate. The proposed six-axis force/torque sensor with low cost and high reliability has great potential in robotic applications in harsh industrial environments.

Paper Citation

in Harvard Style

Huang J., Wong C., Pham D., Wang Y., Ji C., Su S., Xu W., Liu Q. and Zhou Z. (2018). Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-321-6, pages 517-524. DOI: 10.5220/0006911705170524

in Bibtex Style

@conference{icinco18,
author={Jun Huang and Chu Yan Wong and Duc Truong Pham and Yongjing Wang and Chunqian Ji and Shizhong Su and Wenjun Xu and Quan Liu and Zude Zhou},
title={Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2018},
pages={517-524},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006911705170524},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Design of a Novel Six-Axis Force/Torque Sensor based on Optical Fibre Sensing for Robotic Applications
SN - 978-989-758-321-6
AU - Huang J.
AU - Wong C.
AU - Pham D.
AU - Wang Y.
AU - Ji C.
AU - Su S.
AU - Xu W.
AU - Liu Q.
AU - Zhou Z.
PY - 2018
SP - 517
EP - 524
DO - 10.5220/0006911705170524