Design and Optimization of a Cable Tension Force Sensor for a Low-cost Custom Continuum Robot Actuator
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Start Page
913
End Page
918
ISSN
2159-6247
ISBN (of the container)
9798350355369
ISBN
9798350355369
Date Issued
2024-07-15
Author(s)
DOI
10.1109/AIM55361.2024.10637183
Abstract
In recent years, cable-driven continuum robots have emerged as a notable focus in robotic research. Achieving a stable and precise controller for such robots requires careful consideration of measuring cable tension force. This paper introduces an innovative design and optimization approach using strain gauges to create a cable tension force sensor (CTFS) that is stable, low-noise, and cost-effective. The methodology involves finite element method (FEM) analysis and optimization to determine the optimal sensor structure based on design requirements. The CTFS design structure is fabricated with 3 types of strain gauges arrangement to conduct the generality. Signal processing circuits for the sensor are developed to handle signals from the CTFS strain gauge bridge. Additionally, the study details the fabrication of three types of CTFS modules to comprehensively assess the proposed designs. Experimental validations, including calibration and temperature sensitivity, are conducted to verify the CTFS in various aspects. The experimental results of the cable tension force sensor shows that the CTFSs can provide high sensitivity with 0.31 mV/N, 0.37586mV/N and 0.3197mV/N along with high stability for CTFS-Type1, CTFS-Type 2 and CTFS-Type 3 respectively. Finally, the application validation demonstrates the potential effectiveness of the cable tension force sensor for affordable, custom continuum robot actuators.
Event(s)
2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024, Boston15 July 2024 through 19 July 2024. Code 202065
Subjects
cable-driven continuum robots
force signal processing
structural topology design and optimization
Tension force sensor
SDGs
Publisher
IEEE
Type
conference paper