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Vol. 116, Issue 5, May 2010, pp. 49-60




Simulation-Driven Development and Optimization of a High-Performance Six-Dimensional Wrist Force/Torque Sensor


1, 2Qiaokang LIANG, 3Dan ZHANG, 1Quanjun SONG and 1Yunjian GE

1Institute of Intelligent Machines, Chinese Academy of Sciences

P.O. Box 1130, Hefei, Anhui, 230031, P. R. China

2University of Science and Technology of China

Hefei, Anhui 230026, P. R. China

3University of Ontario Institute of Technology

Oshawa, Ontario, L1H 7K4 Canada

Tel.: 905.721.8668 ext. 2965, fax: 905.721.3370

E-mail: Dan.Zhang@uoit.ca, Qiaokang.Liang@uoit.ca



Received: 27 April 2010   /Accepted: 24 May 2010   /Published: 31 May 2010


Abstract: This paper describes the Simulation-Driven Development and Optimization (SDDO) of a six-dimensional force/torque sensor with high performance. By the implementation of the SDDO, the developed sensor possesses high performance such as high sensitivity, linearity, stiffness and repeatability simultaneously, which is hard for tranditional force/torque sensor. Integrated approach provided by software ANSYS was used to streamline and speed up the process chain and thereby to deliver results significantly faster than traditional approaches. The result of calibration experiment possesses some impressive characters, therefore the developed fore/torque sensor can be usefully used in industry and the methods of design can also be used to develop industrial product.


Keywords: Simulation-driven development of production, Optimization, Six-dimensional force/torque


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