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

    2 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

    Fingerprint

    Overload
    Force Sensor
    Torque
    Sensor
    Sensors
    Biped Robot
    Compression
    Loads (forces)
    Robots
    Experiment
    Experiments

    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

    Overload Protection Mechanism for 6-axis Force/Torque Sensor. / Hashimoto, Kenji; Asano, Teppei; Yoshimura, Yuki; Sugahara, Yusuke; Lim, Hun Ok; Takanishi, Atsuo.

    CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2013. p. 383-390 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544).

    Research output: Chapter in Book/Report/Conference proceedingChapter

    Hashimoto, K, Asano, T, Yoshimura, Y, Sugahara, Y, Lim, HO & Takanishi, A 2013, Overload Protection Mechanism for 6-axis Force/Torque Sensor. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 544, Springer International Publishing, pp. 383-390. https://doi.org/10.1007/978-3-7091-1379-0_47
    Hashimoto K, Asano T, Yoshimura Y, Sugahara Y, Lim HO, Takanishi A. Overload Protection Mechanism for 6-axis Force/Torque Sensor. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2013. p. 383-390. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/978-3-7091-1379-0_47
    Hashimoto, Kenji ; Asano, Teppei ; Yoshimura, Yuki ; Sugahara, Yusuke ; Lim, Hun Ok ; Takanishi, Atsuo. / Overload Protection Mechanism for 6-axis Force/Torque Sensor. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2013. pp. 383-390 (CISM International Centre for Mechanical Sciences, Courses and Lectures).
    @inbook{b0006e42f3cc44fbad9b01e39ba67177,
    title = "Overload Protection Mechanism for 6-axis Force/Torque Sensor",
    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.",
    keywords = "Biped Robot, Compressive Load, Force Sensor, Humanoid Robot, Load Rating",
    author = "Kenji Hashimoto and Teppei Asano and Yuki Yoshimura and Yusuke Sugahara and Lim, {Hun Ok} and Atsuo Takanishi",
    year = "2013",
    month = "1",
    day = "1",
    doi = "10.1007/978-3-7091-1379-0_47",
    language = "English",
    series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
    publisher = "Springer International Publishing",
    pages = "383--390",
    booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

    }

    TY - CHAP

    T1 - Overload Protection Mechanism for 6-axis Force/Torque Sensor

    AU - Hashimoto, Kenji

    AU - Asano, Teppei

    AU - Yoshimura, Yuki

    AU - Sugahara, Yusuke

    AU - Lim, Hun Ok

    AU - Takanishi, Atsuo

    PY - 2013/1/1

    Y1 - 2013/1/1

    N2 - 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.

    AB - 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.

    KW - Biped Robot

    KW - Compressive Load

    KW - Force Sensor

    KW - Humanoid Robot

    KW - Load Rating

    UR - http://www.scopus.com/inward/record.url?scp=84893473954&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84893473954&partnerID=8YFLogxK

    U2 - 10.1007/978-3-7091-1379-0_47

    DO - 10.1007/978-3-7091-1379-0_47

    M3 - Chapter

    AN - SCOPUS:84893473954

    T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

    SP - 383

    EP - 390

    BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

    PB - Springer International Publishing

    ER -