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The basic requirement of TCMM manipulation is to be durable, strong, uniform and soft, but it lacks accurate, intuitive and quantitative representation, let alone the effective evaluation of massage manipulation with more experienced physiotherapist. Aiming at the above problems, this paper puts forward an information acquisition system based on the multi-dimension force sensor. Through this system,...
This paper proposes an extra-thin multi-component F/M sensor with a novel E-type membrane EE (Elastic Element) structure. With the approach of Simulation-Driven Production Development (SDPD), the preliminary design studies about the EE structure of the multi-component F/M sensor has been quickly performed. Rather than traditional verifying solutions and classical closed-form analysis techniques, the...
This paper presents a new nanometer displacement sensor with a mechanical amplification structure based on flexure hinges. There are many advantages of the new sensor, such as large operating range, small size, high linearity, and low cost. In this sensor, the input nanometer scale displacement will be amplified by flexure hinges with a multi-stage enlarger configuration. Then the expanded displacement...
The conventional method to measure the micro/nano scale displacement is using the principle of optical, chemical, or capacitive. Different with the previous methods, we designed a mechanical amplification structure based on flexure hinges to amplify the micro/nano scale displacement and using strain gauges to convert the deformation into electrical signals. However, after the original displacement...
Movement in micro-scale precision cannot be achieved by unaided human hand. This paper describes the design of a six degrees of freedom (DOF) micromanipulator based on compliant parallel mechanism. It is capable of delivering 6-DOF pure motions with high precision and featured by piezo-driven actuators, flexure hinges and integrated force sensor that can provide the system with real-time force information...
In this paper, a micro/nano displacement sensor for PZT actuator which could measure the minute displacement in micron or nanometer level has been proposed. This paper focus on the whole process of this novel sensor from the working principle, parameter determination to the FEM simulation and so forth. This sensor can enlarge the displacement of the PZT by utilizing the lever principle and the strain...
In this paper, we address the design and evaluation of a novel flexible bio-robotic foot/ankle based on parallel mechanism with three identical UPS prismatic-actuated limbs and a central UR passive limb. After discussing the advantages of using the PKM, the kinematics problem of the PKM are investigated. In particular, to measure the action force at the foot when the bio-robot maintains balance or...
This paper presents the development of a micro-scale positioning device based on two degrees of freedom (DOF) plane compliant parallel mechanism, which is featured by piezo-driven actuators and flexure joints, integrated force/torque sensor that capable of delivering 2-DOF motions with high precision and providing real-time force/torque or position information for feedback control. With optimization...
The latest generation of underwater robots employ manipulators without force sensors. Accordingly, this paper presents a novel 4-D fingertip force sensor based on an E-type membrane for underwater robot manipulators. Specifically, this sensor is aimed at obtaining the accurate interaction force between underwater robot manipulators and other objects. Moreover, a seal technique and natural pressure...
There has been a growing interest of parallel mechanisms which offer a high degree of precision, stiffness and dexterity to name just a few of their benefits as opposed to their traditional serial counterparts. For the applications of parallel mechanisms in the field of sensor, previous work was focused on investigating the 6 degree-of-freedom force/torque sensors based on common Gough-Stewart platform...
Micro displacement measurement of the PZT actuator is a micro sensor which could measure the minute displacement in micron or nanometer level. In general, the sensor is required to accommodate little space in order to save the room of measuring device. In this paper, a mechanical micro displacement sensor with smaller volume has been proposed. This paper focus on the whole process of this novel sensor...
A novel generation of micro/nano displacement sensor for PZT actuator which could measure the minute displacement in micron or nanometer level has been performed in this paper. In general, the former two generations of sensor at IIM have been fabricated and tested successfully. In this paper, a new generation micro/nano displacement sensor with higher resolution has been proposed. This paper focus...
Force sensors play a key role in the modern technological world, which can measure force information required for mechatronic systems used in automated manufacturing environments to function effectively and make intelligent decisions. Aim to decrease the additional torque originated from the height of the sensors, we design a thin six-dimensional force senor which is only 15 mm high. The sensor has...
Micro displacement measurement of the PZT actuator is a micro sensor which could measure the minute displacement in micron or nanometer level. In general, the sensor is required not to accommodate much space in order to save the room of measuring device. In this paper, a mechanical micro displacement sensor with smaller volume has been proposed. This paper focus on the whole process of this novel...
The elastic body structure of six-axis force sensor based on the double layer E-type membrane has been used in the normal situation maturely. In this paper, the possibility of the same elastic body structure used in the micro-operation is discussed. The working principle of the sensor structure is introduced firstly, and the static and dynamic characteristics of the elastic body are obtained by finite...
There is an increasing requirement, in a variety of fields, for the ability to make microscopic movements or to position items with high degree of accuracy. In this paper, a parallel mechanism with prismatic actuators which encompasses three degrees of freedom and can produce motion on a microscopic level is proposed and developed. In order to produce such motion, the mechanism is composed of compliant...
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