Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

In this study, a novel strain gauge arrangement and error reduction techniques were proposed to minimize crosstalk reading and simultaneously increase sensitivity on a decoupled six-axis force−moment (F/M) sensor. The calibration process that comprises the least squares method and error re...

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Main Authors:	Getnet Ayele Kebede, Anton Royanto Ahmad, Shao-Chun Lee, Chyi-Yeu Lin
Format:	Article
Language:	English
Published:	MDPI AG 2019-07-01
Series:	Sensors
Subjects:	six-axis force–moment sensor error reduction techniques strain gauge arrangement least squares method
Online Access:	https://www.mdpi.com/1424-8220/19/13/3012

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record_format	Article
spelling	doaj-fba1b6574b1d4c3a8370af8d2ced19762020-11-24T21:34:06ZengMDPI AGSensors1424-82202019-07-011913301210.3390/s19133012s19133012Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction TechniquesGetnet Ayele Kebede0Anton Royanto Ahmad1Shao-Chun Lee2Chyi-Yeu Lin3Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanDepartment of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, TaiwanIn this study, a novel strain gauge arrangement and error reduction techniques were proposed to minimize crosstalk reading and simultaneously increase sensitivity on a decoupled six-axis force−moment (F/M) sensor. The calibration process that comprises the least squares method and error reduction techniques was implemented to obtain a robust decoupling matrix. A decoupling matrix is very crucial for minimizing error and crosstalk. A novel strain gauge arrangement that comprised double parallel strain gauges in the decoupled six-axis force−moment sensor was implemented to obtain high sensitivity. The experimental results revealed that the maximum calibration error, F/M sensor measurement error, and crosstalk readings were reduced to 3.91%, 1.78%, and 4.78%, respectively.https://www.mdpi.com/1424-8220/19/13/3012six-axis force–moment sensorerror reduction techniquesstrain gauge arrangementleast squares method
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Getnet Ayele Kebede Anton Royanto Ahmad Shao-Chun Lee Chyi-Yeu Lin
spellingShingle	Getnet Ayele Kebede Anton Royanto Ahmad Shao-Chun Lee Chyi-Yeu Lin Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques Sensors six-axis force–moment sensor error reduction techniques strain gauge arrangement least squares method
author_facet	Getnet Ayele Kebede Anton Royanto Ahmad Shao-Chun Lee Chyi-Yeu Lin
author_sort	Getnet Ayele Kebede
title	Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques
title_short	Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques
title_full	Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques
title_fullStr	Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques
title_full_unstemmed	Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques
title_sort	decoupled six-axis force–moment sensor with a novel strain gauge arrangement and error reduction techniques
publisher	MDPI AG
series	Sensors
issn	1424-8220
publishDate	2019-07-01
description	In this study, a novel strain gauge arrangement and error reduction techniques were proposed to minimize crosstalk reading and simultaneously increase sensitivity on a decoupled six-axis force−moment (F/M) sensor. The calibration process that comprises the least squares method and error reduction techniques was implemented to obtain a robust decoupling matrix. A decoupling matrix is very crucial for minimizing error and crosstalk. A novel strain gauge arrangement that comprised double parallel strain gauges in the decoupled six-axis force−moment sensor was implemented to obtain high sensitivity. The experimental results revealed that the maximum calibration error, F/M sensor measurement error, and crosstalk readings were reduced to 3.91%, 1.78%, and 4.78%, respectively.
topic	six-axis force–moment sensor error reduction techniques strain gauge arrangement least squares method
url	https://www.mdpi.com/1424-8220/19/13/3012
work_keys_str_mv	AT getnetayelekebede decoupledsixaxisforcemomentsensorwithanovelstraingaugearrangementanderrorreductiontechniques AT antonroyantoahmad decoupledsixaxisforcemomentsensorwithanovelstraingaugearrangementanderrorreductiontechniques AT shaochunlee decoupledsixaxisforcemomentsensorwithanovelstraingaugearrangementanderrorreductiontechniques AT chyiyeulin decoupledsixaxisforcemomentsensorwithanovelstraingaugearrangementanderrorreductiontechniques
_version_	1725950397931061248

Decoupled Six-Axis Force–Moment Sensor with a Novel Strain Gauge Arrangement and Error Reduction Techniques

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