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This paper presents research on dynamic characteristics of a piezoelectric six-dimensional heavy force/moment sensor for a large-load robotic manipulator. The theory on dynamic characteristics of the sensor structure is analyzed, and a mathematical model of the sensor dynamics, decoupled into separate vibration modes, is provided. This model is complemented by dynamic mode analysis of the sensor by...
The huge heavy-load manipulators are urgently needed to accurately and efficiently manufacture large components in some fields, such as the nuclear power plant, shipbuilding, chemical engineering and national defense. In this paper, a novel parallel piezoelectric six-axis heavy force/torque sensor is designed to realize harmonious control and multi-degree-of-freedom of huge heavy-load manipulator,...
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