Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor

Measurement Science Review

Wu Bo¹  Cai Ping¹ 

[1] Department of Instrument Science and Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China;

关键词: tool-tissue interactive force;    force/torque sensor;    sliding structure;    decoupling;    robust design;    uncertainty;   

DOI  :  10.2478/msr-2013-0028

来源: DOAJ

【 摘 要 】

This paper analyzes the decoupling of a sliding structure six-axis force/torque sensor, which is used to measure the interactive force between surgical tools and soft tissue for the establishment of soft-tissue force model. Because this decoupling structure requires accurate sliding clearance and symmetric grooves, the influence of contact force between the elastic body and the groove sidewall on decoupling is analyzed. The analysis results indicate that the contact force will produce additional coupling error. The robust design method of elastic body size optimization is used to eliminate the influence of contact force. In the calibration test, the expanded uncertainty of the calibration device is evaluated and the calibration results validate the good decoupling.

【 授权许可】

Unknown