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

Somolinos Sánchez, José Andrés and López Piñeiro, Amable and Morales Cabrera, Rafael and 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.

Description

Title: Force sensor of a climbing robot derived from its own flexible structure
Author/s:
  • Somolinos Sánchez, José Andrés
  • López Piñeiro, Amable
  • Morales Cabrera, Rafael
  • Morón Fernández, Carlos
Item Type: Article
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Date: 2013
ISSN: 1729-8806
Volume: 9
Subjects:
Freetext Keywords: Force Sensors, Flexibility, Climbing robots
Faculty: E.T.S.I. Navales (UPM)
Department: Sistemas Oceánicos y Navales [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 29147
DC Identifier: http://oa.upm.es/29147/
OAI Identifier: oai:oa.upm.es:29147
DOI: 10.5772/53522
Official URL: http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems
Deposited by: Memoria Investigacion
Deposited on: 06 Jul 2014 11:40
Last Modified: 11 May 2020 08:08
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