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dc.contributor.authorFrigola Alcalde, Roger
dc.contributor.authorRos Giralt, Lluís
dc.contributor.authorRoure Fernández, Francisco
dc.contributor.authorThomas, Federico
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Resistència de Materials i Estructures a l'Enginyeria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationFrigola, Roger; Ros, Lluís; Roure, Francisco; Thomas, Federico. "A wrench-sensitive touch pad based on a parallel structure". A: 2008 IEEE International Conference on Robotics and Automation (ICRA), Pasadena, Estats Units d'Amèrica, 2008. IEEE, 2008, p. 3449-3454.
dc.description.abstractMany different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most designs, the legs are connected to the base and the platform through ball-and-socket joints. Although the dry friction in each of these joints can be individually neglected, the integrated effect of twelve such elements becomes noticeable. Second, dynamical measurements might not be very accurate because the natural resonance frequency of the used structures is quite low even for relatively small dimensions. This dynamical response can be obviously modified with a proper mechanical design, but this increases the complexity of the sensor. This paper discusses the design and implementation of a touch pad based on a 6-axis force sensor and shows how the above limitations degrade its behavior. Moreover, it is shown how using a tensegrity structure both problems could be alleviated because ball-and- socket joints can be substituted by point contacts and the resonance frequency of the structure can be controlled by adjusting the static tensions of the tendons.
dc.format.extentp. 3449-3454
dc.relation.ispartofIEEE International Conference on Robotics and Automation (ICRA)
dc.subjectÀrees temàtiques de la UPC::Enginyeria dels materials
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshManipulators (Mechanism)
dc.subject.lcshRobots -- Dynamics
dc.subject.lcshRobots -- Kinematics
dc.subject.othertouch pad
dc.subject.otherforce sensor
dc.subject.otherwrench sensor
dc.subject.othertactile sensor
dc.titleA wrench-sensitive touch pad based on a parallel structure
dc.typeConference report
dc.subject.lemacManipuladors (Mecanismes)
dc.subject.lemacRobots -- Dinàmica
dc.contributor.groupUniversitat Politècnica de Catalunya. REMM - Recerca en Estructures i Mecànica de Materials
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Manipulators
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot dynamics
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.rights.accessOpen Access

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