Using the Own Flexibility of a Climbing Robot as a Double Force Sensor

Somolinos Sánchez, José Andrés and Morales Cabrera, Rafael and Morón Fernández, Carlos and García García, Alfonso (2011). Using the Own Flexibility of a Climbing Robot as a Double Force Sensor. In: "1st International Conference on Materials and Applications for Sensors and Transducers (IC-MAST)", 13/05/2011 - 17/05/2011, Isla Kos, Grecia. ISBN 978-3-03785-292-7. pp. 128-129.

Description

Title: Using the Own Flexibility of a Climbing Robot as a Double Force Sensor
Author/s:
  • Somolinos Sánchez, José Andrés
  • Morales Cabrera, Rafael
  • Morón Fernández, Carlos
  • García García, Alfonso
Item Type: Presentation at Congress or Conference (Article)
Event Title: 1st International Conference on Materials and Applications for Sensors and Transducers (IC-MAST)
Event Dates: 13/05/2011 - 17/05/2011
Event Location: Isla Kos, Grecia
Title of Book: Materials and Applications for Sensors and Transducers
Date: 2011
ISBN: 978-3-03785-292-7
Subjects:
Faculty: E.U. de Arquitectura Técnica (UPM)
Department: Tecnología de la Edificación
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (156kB) | Preview

Abstract

Force sensors are used when interaction tasks are carried out by robots in general, and by climbing robots in particular. If the mechanics and electronics systems are contained inside the own robot, the robot becomes portable without external control. Commercial force sensors cannot be used due to limited space and weight. By selecting the links material with appropriate stiffness and placing strain gauges on the structure, the own robot flexibility can be used such as force sensor. Thus, forces applied on the robot tip can be measured without additional external devices. Only gauges and small internal electronic converters are necessary. This paper illustrates the proposed algorithm to achieve these measurements. Additionally, experimental results are presented.

More information

Item ID: 13452
DC Identifier: http://oa.upm.es/13452/
OAI Identifier: oai:oa.upm.es:13452
Official URL: http://www.ttp.net/978-3-03785-292-7.html
Deposited by: Memoria Investigacion
Deposited on: 18 Oct 2012 10:53
Last Modified: 11 May 2020 08:27
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM