Optimizations of structure stiffnesses and sensitivities of Y-type six-axis force/torque sensor
Abstract
Purpose
The six-axis force/torque sensor based on a Y-type structure has the advantages of simple structure, small space volume, low cost and wide application prospects. To meet the overall structural stiffness requirements and sensor performance requirements in robot engineering applications, this paper aims to propose a Y-type six-axis force/torque sensor.
Design/methodology/approach
The performance indicators such as each component sensitivities and stiffnesses of the sensor were selected as optimization objectives. The multiobjective optimization equations were established. A multiple quadratic response surface in ANSYS Workbench was modeled by using the central composite design experimental method. The optimal manufacturing structural parameters were obtained by using multiobjective genetic algorithm.
Findings
The sensor was optimized and the simulation results show that the overload resistance of the sensor is 200%F.S., and the axial stiffness, radial stiffness, bending stiffness and torsional stiffness are 14.981 kN/mm, 16.855 kN/mm, 2.0939 kN m/rad and 6.4432 kN m/rad, respectively, which meet the design requirements, and the sensitivities of each component of the optimized sensor have been well increased to be 2.969, 2.762, 4.010, 2.762, 2.653 and 2.760 times as those of the sensor with initial structural parameters. The sensor prototype with optimized parameters was produced. According to the calibration experiment of the sensor, the maximum Class I and II errors and measurement uncertainty of each force/torque component of the sensor are 1.835%F.S., 1.018%F.S. and 1.606%F.S., respectively. All of them are below the required 2%F.S.
Originality/value
Hence, the conclusion can be drawn that the sensor has excellent comprehensive performance and meets the expected practical engineering requirements.
Keywords
Acknowledgements
The authors would like to thank Taizhou Zhongqing Technology Co. Ltd and Taizhou University of China for the funding support.
Conflict of interest: The authors have no conflicts to disclose.
Funding: The authors would like to acknowledge the support from Taizhou Zhongqing Technology Co. Ltd (H2020001, H2020002).
Data availability statement: The data that support the findings of this study are available from Taizhou Zhongqing Technology Co. Ltd. Restrictions apply to the availability of these data, which were used under license for this study. Data are available from the authors upon reasonable request and with the permission of Taizhou Zhongqing Technology Co. Ltd.
Citation
Chen, X.L., Xie, Z.Y., Wang, Z.Q. and Sun, Y.W. (2024), "Optimizations of structure stiffnesses and sensitivities of Y-type six-axis force/torque sensor", Sensor Review, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/SR-03-2024-0238
Publisher
:Emerald Publishing Limited
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