FSR Based Force Torque Transducer Design

Abstract

This thesis report discusses the design, construction and calibration of two force-torque transducers for use in a force control override of a rate control system. Pre-loaded force sensing resistors were used in a computer model to determine the 6-umber and location of sensors necessary to resolve three forces and three moments. An analysis was conducted on this full order model to determine redundancy limits. A reduced order model was then used to determine the sensor configuration required to resolve three forces and only one moment. Prototypes of the reduced order model were then built in two different sizes, and used to sense and display applied forces and moments. Force control, Force- torque transducer, Force sensing resistor, Joystick.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1993
Accession Number
ADA271337

Entities

People

  • Charles A. Gunzel Iii

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Acquisition
  • Algorithms
  • Calibration
  • Computers
  • Construction
  • Control Systems
  • Data Acquisition
  • Engineering
  • Equations
  • Gages
  • Materials
  • Mechanical Engineering
  • Performance Tests
  • Resistance
  • Robots
  • Strain Gages
  • Transducers

Fields of Study

  • Agricultural and Food sciences

Readers

  • Fluid Dynamics.
  • Microwave Engineering.
  • Robotics and Automation.