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ORCID
N/A
Access Type
Open Access Thesis
Document Type
thesis
Degree Program
Mechanical Engineering
Degree Type
Master of Science in Mechanical Engineering (M.S.M.E.)
Year Degree Awarded
2016
Month Degree Awarded
September
Abstract
The goal of this thesis is to develop a soft multiple-degree-of-freedom (multi-DOF) load cell that is robust and light weight for use in robotics applications to sense three axes of force and a single axis of torque. The displacement of the magnet within the elastomer changes the magnetic flux density which is sensed by two 3-axis Hall effect sensors. Experimental measurements of magnetic flux density within the area of interest were used to formulate analytic expressions that relate magnet field strength to the position of the magnet. The displacement and orientation measurement and the material properties of the elastomer are used to calibrate and calculate the applied load. The ability to measure 3-DOF force and axial torque was evaluated with combined loading applied by a robotic arm (KUKA, LBR r820 iiwa). The decoupled results show the 4-DOF load cell was able to distinguish 3-axis force and 1-axis torque with 6.9% averaged error for normal force, 4.3% and 2.6% for shear force in the X and Y axis and 8.6% for the torque. The results show good accuracy for a soft multi-axis sensor that would be applicable in many robotic applications where high accuracy is not required.
DOI
https://doi.org/10.7275/8939563
First Advisor
Frank C Sup IV
Second Advisor
Ian R Grosse
Third Advisor
Yahya Modarres-Sadeghi
Recommended Citation
Nie, Qiandong, "A Soft Multiple-Degree of Freedom Load Cell Based on The Hall Effect" (2016). Masters Theses. 440.
https://doi.org/10.7275/8939563
https://scholarworks.umass.edu/masters_theses_2/440