Multidirectional Cylindrical Piezoelectric Force Sensor: Design and Experimental Validation

Prediction Technique and Measuring Device for Coupled Disturbance Forces from Large Equipment in the Spacecraft

To guarantee the accuracy of sophisticated equipment in spacecraft, it is essential to evaluate the dynamic forces of vibration sources. In contrast to conventional rigid-based measuring approaches, a method for predicting the interference of dynamic forces from large sources on spacecraft considering vibration coupling is proposed. In addition, a flexible-based dynamic force measuring platform capable of withstanding large masses and mounting large-volume vibration sources is designed. After that, the experiments for calibrating the platform and acquiring unknown terms in the derived theoretical models are detailed. The principle prototype is then manufactured for feasibility verification. It is demonstrated that despite the low fundamental frequency of the measuring platform of 242.8 Hz, the measurement error of the flexible measuring platform is less than 8% when the coupling is taken into account, which is 29% lower than that without coupling. Additionally, the prediction error of disturbance forces is within 17%. As a result, the accuracy of the proposed dynamic force measurement and prediction of large vibration sources considering coupling is substantially improved, providing a good reference for aerospace applications.

Development and Application of a Tandem Force Sensor

In robot teaching for contact tasks, it is necessary to not only accurately perceive the traction force exerted by hands, but also to perceive the contact force at the robot end. This paper develops a tandem force sensor to detect traction and contact forces. As a component of the tandem force sensor, a cylindrical traction force sensor is developed to detect the traction force applied by hands. Its structure is designed to be suitable for humans to operate, and the mechanical model of its cylinder-shaped elastic structural body has been analyzed. After calibration, the cylindrical traction force sensor is proven to be able to detect forces/moments with small errors. Then, a tandem force sensor is developed based on the developed cylindrical traction force sensor and a wrist force sensor. The robot teaching experiment of drawer switches were made and the results confirm that the developed traction force sensor is simple to operate and the tandem force sensor can achieve the perception of the traction and contact forces.