Multi-axis force sensors are extensively utilized in engineering fields, for example in automotive development, where 6-axis force transducers are used to measure force components applied to wheels, and as sensors in robotic manipulators. This paper describes a new structural optimization method for multi-axis force sensor structures considering the accuracy of force detection. First, we formulate homogenization design methods (HDM) in which continuous material distributions are assumed using a continuous interpolation function at each node. Next, we clarify the mechanical requirements and design specifications of the sensor structure, using a methodology based on singular value decomposition, and construct objective functions that aim to satisfy given design specifications. The sensitivities of the objective function with respect to the design variables are formulated using eigen values. Based on these formulations, an optimization algorithm is constructed using sequential linear programming (SLP). Finally, we examine the characteristics of the optimization formulations and the generated optimal configurations and confirm the usefulness of our proposed methodology for the optimization of multi-axis force sensor structures.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2008 10|
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