Date of Award

2015

Degree Type

Thesis

Degree Name

Master of Science in Mechanical Engineering and Applied Mechanics

Department

Mechanical, Industrial and Systems Engineering

First Advisor

Musa Jouaneh

Abstract

A novel low cost force-torque transducer suitable for robotic applications, its development from design to fabrication, and its capabilities are described. The transducer is capable of measuring planar forces and torques. The sensors used in the device are force sensing resistors. A numerical model for this transducer is described to evaluate the equations for the output of the device given a force input. A general design model is created for future work and is capable of being extended to three dimensions.

Force and torque loadings at pre-determined magnitudes and angles are applied to evaluate the device's ability to accurately measure forces at any angle theta and magnitude F as well as any Torque T. Testing of the system reveals the performance as described by its accuracy and repeatability. The performance of the device successfully correlates the equations and the numerical model to the actual output of the device. Thus, a force-torque transducer was successfully designed, tested, and evaluated.

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