Structural optimization of the thin-type four-axis force/moment sensor for a robot finger using response surface methodology and desirability function

  • Authors:

  • Yuichiro Hayashi;Nobutaka Tsujiuchi;Takayuki Koizumi;Hiroko Oshima;Tohru Hiroshima;Akihito Ito;Youtaro Tsuchiya

  • Affiliations:

  • Department of Mechanical Engineering, Doshisha University, Kyoto, Japan;Department of Mechanical Engineering, Doshisha University, Kyoto, Japan;Department of Mechanical Engineering, Doshisha University, Kyoto, Japan;Department of Mechanical Engineering, Doshisha University, Kyoto, Japan;Department of Mechanical Engineering, Doshisha University, Kyoto, Japan;Department of Mechanical System Engineering, University of Yamanashi, Kofu, Yamanashi, Japan;Tec Gihan Co., Ltd, Uji, Kyoto, Japan

  • Venue:
  • ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
  • Year:
  • 2009

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Abstract

A multi-axis force/moment sensor, which can measure force and moment, is helpful for robotic force control. However, the smallest multi-axis force/moment sensor has excessive height, which restricts postures in tasks by a robot hand. Therefore, we aim to optimize the structure of the thin-type four-axis force/moment sensor that we developed, which can measure the twisting moment on the finger cushion of a robot hand as if it were human, including strain gauge. As a result of applying structural optimization techniques using response surface methodology and desirability function on the four-axis force/moment sensor by finite element analysis, we obtained optimum design variables and validated the effectiveness of the proposed techniques.