Overload Protection Mechanism for 6-axis Force/Torque Sensor

Kenji Hashimoto, Teppei Asano, Yuki Yoshimura, Yusuke Sugahara, Hun Ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapter

3 Citations (Scopus)

Abstract

This paper describes an overload protection mechanism for a 6-axis force/torque sensor. It can limit the load applied to the force sensor by contacting a sole part with a top plate placed on the force sensor. Specifically, compression springs are arranged between the force sensor and the top plate, and the springs are precompressed. When more loads than the preload are applied to the top plate, the top plate touches the sole part by compressing the springs, and it is possible to prevent the 6-axis force/torque sensor from being over-loaded. Verification of the proposed mechanism is conducted through experiments with a human-carrying biped robot, WL-16RV.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages383-390
Number of pages8
DOIs
Publication statusPublished - 2013

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume544
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Biped Robot
  • Compressive Load
  • Force Sensor
  • Humanoid Robot
  • Load Rating

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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