Using the Own Flexibility of a Climbing Robot as a Double Force Sensor

Abstract:

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Force sensors are used when interaction tasks are carried out by robots in general, and by climbing robots in particular. If the mechanics and electronics systems are contained inside the own robot, the robot becomes portable without external control. Commercial force sensors cannot be used due to limited space and weight. By selecting the links material with appropriate stiffness and placing strain gauges on the structure, the own robot flexibility can be used such as force sensor. Thus, forces applied on the robot tip can be measured without additional external devices. Only gauges and small internal electronic converters are necessary. This paper illustrates the proposed algorithm to achieve these measurements. Additionally, experimental results are presented.

Info:

Periodical:

Edited by:

E. Hristoforou and D.S. Vlachos

Pages:

91-95

DOI:

10.4028/www.scientific.net/KEM.495.91

Citation:

J. A. Somolinos et al., "Using the Own Flexibility of a Climbing Robot as a Double Force Sensor", Key Engineering Materials, Vol. 495, pp. 91-95, 2012

Online since:

November 2011

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Price:

$35.00

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