Articles | Volume 15, issue 1
https://doi.org/10.5194/ms-15-367-2024
https://doi.org/10.5194/ms-15-367-2024
Research article
 | 
28 May 2024
Research article |  | 28 May 2024

Gravity compensation and output data decoupling of a novel six-dimensional force sensor

Yongli Wang, Ke Jin, Xiao Li, Feifan Cao, and Xuan Yu

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Cited articles

Cai, D., Yin, H., Chen, L., Xu, Y. D., and Yao, J.: Analysis and design of the multi dimensional force-sensing mechanism based on the capacitive micro-displacement sensing unit, Mach. Des., 37, 43–50, https://doi.org/10.13841/j.cnki.jxsj.2020.12.007, 2020. 
Chao, L. and Chen, K.: Shape optimal design and force sensitivity evaluation of six-axis force sensors, Sensor. Actuat. A-Phys., 63, 105–112, https://doi.org/10.1016/S0924-4247(97)01534-3, 1997. 
Chun, C.: Research on robotic grinding system based on vision and force sense, Qingdao University of Science and Technology, Master thesis, https://doi.org/10.27264/d.cnki.gqdhc.2022.000478, 2022. 
Fan, X., Xu, Y., Zhou, J., and Li, Z.: Application of genetic algorithm and wavelet neural network in ET_0 prediction, Journal of Yanshan University, 43, 182–188, 2019. 
Hou, Y., Yao, J., Lu, L., and Zhao, Y.: Performance analysis and comprehensive index optimization of a new configuration of Stewart six-component force sensor, Mech. Mach. Theory, 44, 359–368, https://doi.org/10.1016/j.mechmachtheory.2008.03.008, 2008. 
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Short summary
A new type of parallel six-dimensional force sensor was developed, and artificial neural network technology was used to achieve decoupling of the sensor output data. In addition, a gravity compensation method based on CAD variable geometry is proposed to optimize the performance of the six-dimensional force sensor.
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