Force sensor of a climbing robot derived from its own flexible structure

Somolinos Sanchez, Jose Andres; Lopez Piñeiro, Amable; Morales, R. y Morón Fernández, Carlos (2013). Force sensor of a climbing robot derived from its own flexible structure. "International Journal of Advanced Robotic Systems", v. 9 ; pp. 1-10. ISSN 1729-8806. https://doi.org/10.5772/53522.

Descripción

Título: Force sensor of a climbing robot derived from its own flexible structure
Autor/es:
  • Somolinos Sanchez, Jose Andres
  • Lopez Piñeiro, Amable
  • Morales, R.
  • Morón Fernández, Carlos
Tipo de Documento: Artículo
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Fecha: 2013
Volumen: 9
Materias:
Palabras Clave Informales: Force Sensors, Flexibility, Climbing robots
Escuela: E.T.S.I. Navales (UPM)
Departamento: Sistemas Oceánicos y Navales [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

One of the most important design constraints of a climbing robot is its own weight. When links or legs are used as a locomotion system they tend to be composed of special lightweight materials, or four-bars-linkage mechanisms are designed to reduce the weight with small rigidity looses. In these cases, flexibility appears and undesirable effects, such as dynamics vibrations, must be avoided at least when the robot moves at low speeds. The knowledge of the real tip position requires the computation of its compliance or stiffness matrix and the external forces applied to the structure. Gravitational forces can be estimated, but external tip forces need to be measured. This paper proposes a strain gauge system which achieves the following tasks: (i) measurement of the external tip forces, and (ii) estimation of the real tip position (including flexibility effects). The main advantages of the proposed system are: (a) the use of external force sensors is avoided, and (b) a substantial reduction of the robot weight is achieved in comparison with other external force measurement systems. The proposed method is applied to a real symmetric climbing robot and experimental results are presented.

Más información

ID de Registro: 29147
Identificador DC: http://oa.upm.es/29147/
Identificador OAI: oai:oa.upm.es:29147
Identificador DOI: 10.5772/53522
URL Oficial: http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems
Depositado por: Memoria Investigacion
Depositado el: 06 Jul 2014 11:40
Ultima Modificación: 22 Sep 2014 11:44
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