Spatial Compliance Measurement of a Clamping Table with Integrated Force Sensors
 
More details
Hide details
1
Institute for Machine Tools and Forming Technology, Fraunhofer, Germany
 
2
Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, TU Dresden, Germany
 
 
Submission date: 2021-12-03
 
 
Acceptance date: 2022-02-08
 
 
Online publication date: 2022-02-17
 
 
Publication date: 2022-03-30
 
 
Corresponding author
Christian Friedrich   

Institute for Machine Tools and Forming Technology, Fraunhofer, Nöthnitzer Straße 44, 01187, Dresden, Germany
 
 
Journal of Machine Engineering 2022;22(1):70-83
 
KEYWORDS
TOPICS
ABSTRACT
Force sensor integration into machine components is a promising approach to measure spatial process forces, especially, when regarding hexapod structures and kinematics. Rigid still-standing hexapod frameworks, such as clamping tables, are particular suitable for this approach, as no dynamic influences need to be taken into account within the measurement model and they allow a measurement in 6 degrees of freedom. On the other hand, the stiffness of rigid frameworks is reduced by sensor integration. Further, many approaches apply joints or flexure hinges to reduced lateral forces and improve the measuring quality, which reduce the stiffness even more. In this contribution, the compliance of a clamping table with integrated force sensors and flexure hinges is determined by experimental measurements, by analytic calculation, and by finite element simulation. Lastly, the amount of stiffness reduction by force sensors and flexure hinges is quantified and different methods for compliance determination are compared.
 
REFERENCES (30)
1.
FERRARESI C., PASTORELLI S., ZHMUD M.S.N., 1995, State and Dynamic Behavior of a High Stiffness Stewart Platform-Based Force/Torque Sensor, Journal of Robotic Systems, 12/12, 883–893.
 
2.
GAILLET A., REBOULET C., 1983, An Isostatic Six Component Force and Torque Sensor, Proceedings of the 13th International Symposium on Industrial Robotics, 102–111.
 
3.
KERR D., 1989, Analysis, Properties, and Design of a Stewart-Platform Transducer, Journal of Mechanisms, Transmissions, and Automation in Design, 111/1, 25–28.
 
4.
LI F., 1998, Design and Analysis of a Fingertip Stewart Platform Force/Torque Senso, PhD Thesis, Simon Fraser University.
 
5.
NGUYEN C.C., ANTRAZI S., ZHOU Z.-L., 1991, Analysis and Implementation of a 6 DOF Steward Platform-Based Force Sensor for Passive Compliant Robotic Assembly, IEEE Proceedings of the SOUTHEASTCON '91, 880–884, DOI: 10.1109/SECON.1991.147886.
 
6.
SORLI M., PASTORELLI S., 1995, Six-Axis Reticulated Structure Force/Torque Sensor with Adaptable Performances, Mechatronics, 5/6, 585–601.
 
7.
DWARAKANATH T., DASGUPTA B., MRUTHYUNJAYA T., 2001, Design and Development of a Stewart Platform Based Force–Torque Sensor, Mechatronics, 11/7, 793–809.
 
8.
HUDLEMEYER A.A., NAUGHTON J.W., 2009, A Hexapod-Based Thrust Balance, 47th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition, 795.
 
9.
KANG C.-G., 2001, Closed-Form Force Sensing of a 6-Axis Force Transducer Based on the Stewart Platform, Sensors and Actuators A: Physical, 90/1, 31–37.
 
10.
AGHILI F., BUEHLER M., HOLLERBACH, J.M., 2001, Design of a Hollow Hexaform Torque Sensor for Robot Joints, I. J. Robotics Res., 20, 967–976.
 
11.
DWARAKANATH T., BHUTANI G., 2011, Beam Type Hexapod Structure Based Six Component Force/Torque Sensor, Mechatronics, 21/8, 1279–1287, ISSN 0957-4158.
 
12.
RÖSKE D., 2002, Investigation of Different Joint Types for a Multi-Component Calibration Device Based on a Hexapod Structure, VDI BERICHTE, 1685, 27–36.
 
13.
RÖSKE D., 2003, Metrological Characterization of a Hexapod for a Multi-Component Calibration Device, XVII IMEKO World Congress (Metrology in the 3rd millennium), 347–351.
 
14.
NITSCHE J., BAUMGARTEN S., PETZ M., RÖSKE D., KUMME R., TUTSCH R., 2017, Measurement Uncertainty Evaluation of a Hexapod-Structured Calibration Device for Multi-Component Force and Moment Sensors, Metrologia, 54/2, 171.
 
15.
RÖSKE D., 2008, Multi-Component Measurements of the Mechanical Quantities Force and Moment, Fachorgan für Wirtschaft und Wissenschaft Amts-und Mitteilungsblatt der Physikalisch-Technischen Bundesanstalt Braunschweig und Berlin, 118, 2-3, 56–59.
 
16.
DESOGUS S., GERMAK A., MAZZOLENI F., QUAGLIOTTI D., BARBATO G., BARBIERI A., BIGOLIN G., BIN C., 2010, Developing Multicomponent Force Transducers at INRiM, IMEKO World Congress, 17–19.
 
17.
GENTA G., GERMAK A., BARBAT G., LEVI R., 2016, Metrological Characterization of an Hexapod-Shaped Multicomponent Force Transducer, Measurement, 78, 202–206.
 
18.
GENTA G., PRATO A., MAZZOLENI F., GERMAK A., GALETTO M., 2018, Accurate Force And Moment Measurement in Spring Testing Machines by an Integrated Hexapod-Shaped Multicomponent Force Transducer, Measurement Science and Technology, 29/9, 095902.
 
19.
PALUMBO S., GERMAK A., MAZZOLENI F., DESOGUS S., BARBATO G., 2016, Design and Metrological Evaluation of the New 5 MN Hexapod-Shaped Multicomponent Build-Up System, Metrologia, 53/3, 956.
 
20.
MATICH S., HESSINGER M., KUPNIK M., WERTHSCHÜTZKY R., HATZFELD C., 2017, Miniaturized Multiaxial Force/Torque Sensor with a Rollable Hexapod Structure, TM-Technisches Messen, 84, 138–142.
 
21.
SEIBOLD U.S. 2013, An Advanced Force Feedback Tool Design for Minimally Invasive Robotic Surgery, PhD thesis, Technische Universität München.
 
22.
OELHYDRAULIK HAGENBUCH AG, 2017, Kräfte messen mit Hexamove-Konzept, Produktprospekt: Hexamove – Bewegung leichtgemacht, 16, 17–17.
 
23.
FRIEDRICH C., GROSSMANN K., 2016, Strukturintegrierte Kraftmessung, Teil 3 - wirkstellenferne Messung, ZWF, 1–2, 36–40.
 
24.
FRIEDRICH C., IHLENFELDT S., 2021, Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors, MDPI Sensors, 21/10, 3537, https://doi.org/10.3390/s21103....
 
25.
FRIEDRICH C., KAUSCHINGER B., IHLENFELDT S., 2019, Spatial Force Measurement Using a Rigid Hexapod-Based End-Effector with Structure-Integrated Force Sensors in a Hexapod Machine Tool, Measurement, 145C, 350–360.
 
26.
FRIEDRICH C., KAUSCHINGER B., IHLENFELDT S., 2020, Stiffness Evaluation of a Hexapod Machine Tool with Integrated Force Sensors, Journal of Machine Engineering, 20/1, 58–69.
 
27.
FRIEDRICH C., KAUSCHINGER B., IHLENFELDT S., 2016, Decentralized Structure-Integrated Spatial Force Measurement in Machine Tools, Mechatronics, 40, 17–27.
 
28.
ETALON-AG, 2021, Absolute Multiline Technology, https://www.etalonproducts.com... (03.11.2021).
 
29.
CHEN S.-F. AND KAO I., 2000, Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands Fingers, The International Journal of Robotics Research, 19/9, 835–847.
 
30.
KREFFT M., 2006, Aufgabenangepasste Optimierung von Parallelstrukturen für Maschinen in der Produktions-technik, PhD thesis, TU Braunschweig.
 
eISSN:2391-8071
ISSN:1895-7595
Journals System - logo
Scroll to top