Three-axis forces and torque sensor

• Autorzy: Młotek Paweł , Mynarek Piotr , Kowol Marcin

Identyfikatory

DOI

10.24425/bpasts.2025.153437

• Języki publikacji: EN

Abstrakty

EN

This paper describes research on a prototype of a multi-axis force and torque sensor dedicated to the support system of a telescopic camera crane arm. Based on studies conducted on an actual telescopic camera crane arm, the requirements that the sensor must meet to enable precise control of the drives in two working axes of the telescopic camera crane arm were defined. In the sensor developed, a method for measuring forces and torques using an optical displacement sensor was proposed. A simplified sensor prototype was made to verify the assumptions, and measurement tests were carried out. Additionally, the paper presents a CAD model of the sensor using an elastic pin, based on which a numerical model was developed, and calculations of displacements and mechanical stresses were performed.

Słowa kluczowe

EN

three-axis force; torque sensor; optical measurement of force and torque; STM microcontroller; structural analysis

PL

siła trójosiowa; czujnik momentu obrotowego; pomiar optyczny; mikrokontroler STM; analiza strukturalna

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2025
• Tom: Vol. 73, nr 4
• Strony: art. no. e153437
• Opis fizyczny: Bibliogr. 8 poz., rys., tab., wykr.

Twórcy

autor

Młotek Paweł

• Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Opole, Poland

• https://orcid.org/0000-0002-3407-6818

autor

Mynarek Piotr

• Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Opole, Poland

• https://orcid.org/0000-0002-0545-7056

autor

Kowol Marcin

• Faculty of Electrical Engineering, Automatic Control and Informatics, Opole University of Technology, Opole, Poland

• https://orcid.org/0000-0003-2253-3898

Bibliografia

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• [2] V. Grosu, S. Grosu, B. Vanderborght, D. Lefeber, and C. Rodriguez-Guerrero, “Multi-axis force sensor for human-robot interaction sensing in a rehabilitation robotic device,” Sensors (Switzerland), vol. 17, no. 6, p. 1294, 2017, doi: 10.3390/s17061294.
• [3] J.-H. Kim, “Multi-Axis Force-Torque Sensors for Measuring Zero-Moment Point in Humanoid Robots: A Review,” IEEE Sens. J., vol. 20, no. 3, pp. 1126–1141, Feb. 2020, doi: 10.1109/JSEN.2019.2947719.
• [4] Y. Noh et al., “Multi-Axis Force/Torque Sensor Based on Simply Supported Beam and Optoelectronics,” Sensors, vol. 16, no. 11, p. 1936, Nov. 2016, doi: 10.3390/s16111936.
• [5] P. Młotek, P. Warmuzek, M. Łukaniszyn, M. Kowol, J. Kołodziej, and P. Mynarek, “Wyznaczanie parametrów elektromechanicznych napędu wspomagającego pracę teleskopowych wysięgników do kamer”, XLV Konferencja z Podstaw Elektrotechniki i Teorii Obwodów SPETO, 2024. (in Polish)
• [6] T. Niezgodziński and E Michał, Wytrzymałość materiałów. Warszawa: Wydawnictwo Naukowe PWN, 2010.
• [7] T. Ślęzak and L. Śnieżek, “A comparative LCF study of S960QL high strength steel and S355J2 mild steel”, Procedia Eng., vol. 114, pp. 78–85, 2015.
• [8] S. Timoshenko, History of strength of materials. Italy: Dover Publications, 1983, pp. 135–141.