Date of Award
Master of Science in Mechanical Engineering and Applied Mechanics
Mechanical, Industrial and Systems Engineering
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.
Sherman, Daniel, "Developing and Testing a Novel Low Cost Force and Torque Sensor Suitable Robotic Applications" (2015). Open Access Master's Theses. Paper 649.