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 Jan 1

    Publication series

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

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    Keywords

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

    ASJC Scopus subject areas

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

    Cite this

    Hashimoto, K., Asano, T., Yoshimura, Y., Sugahara, Y., Lim, H. O., & Takanishi, A. (2013). Overload Protection Mechanism for 6-axis Force/Torque Sensor. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 383-390). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544). Springer International Publishing. https://doi.org/10.1007/978-3-7091-1379-0_47