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Meccanica

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29-11-2016

On human–robot interaction of a 3-DOF decoupled parallel mechanism based on the design and construction of a novel and low-cost 3-DOF force sensor

Authors: Mohammad Sharifzadeh, Mehdi Tale Masouleh, Ahmad Kalhor

Published in: Meccanica | Issue 10/2017

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Abstract

This paper addresses the extension of a 3-degrees-of-freedom (3-DOF) decoupled parallel mechanism for human–robot interaction purposes. To this end, a low-cost 3-DOF force sensor for human–robot interaction applications is proposed, designed and constructed. In the latter force sensor, five load cells are placed in order to identify the amount of the applied force along each Cartesian direction. In addition, an experimental identification procedure based on least square method is carried out in order to obtain the first and third degree polynomial models of the sensor output model. From the practical tests it has been reveled that the force sensor has a reasonable precision of 0.1 N in both x and y-axes and 0.2 N in z-axis, within a range of 5 N which is suitable for human–robot interaction applications. Then, using the proposed force sensor, two control methods, namely “position control” and “speed control” are applied for human–robot interaction purposes and their performances are compared.

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The sensor is able to sense a wider range but the linearity behavior is guaranteed in the mentioned range.

IKP pertains at determining the actuators configurations for a given position and orientation(pose) of end-effector.

FKP pertains at determining the pose of end-effector for a prescribed actuators configurations.

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Title: On human–robot interaction of a 3-DOF decoupled parallel mechanism based on the design and construction of a novel and low-cost 3-DOF force sensor
Authors: Mohammad Sharifzadeh
Mehdi Tale Masouleh
Ahmad Kalhor
Publication date: 29-11-2016
Publisher: Springer Netherlands
Published in: Meccanica / Issue 10/2017
Print ISSN: 0025-6455
Electronic ISSN: 1572-9648
DOI: https://doi.org/10.1007/s11012-016-0593-x

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