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Development of compact size force sensing devices which uses for high directivity elasticity beam

Research Project

Project/Area Number 18560242
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTohoku University

Principal Investigator

ABE Koyu  Tohoku University, Tohoku University, Graduate School of Engineering, Associate Researcher (80261600)

Co-Investigator(Kenkyū-buntansha) UCHIYAMA Masaru  Tohoku University, Graduate School of Engineering, Professor (30125504)
KONNO Atsushi  Tohoku University, Graduate School of Engineering, Associate Professor (90250688)
SATO Daisuke  Tohoku University, Musashi Institute of Technology, Lecturer (40344692)
JIAN Xin  Tohoku University, Graduate School of Engineering, Assistant Professor (30451537)
Project Period (FY) 2006 – 2007
Project Status Completed (Fiscal Year 2007)
Budget Amount *help
¥3,800,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥300,000)
Fiscal Year 2007: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2006: ¥2,500,000 (Direct Cost: ¥2,500,000)
KeywordsForce Sensor / Micro-Cantilever / Parallel beam / Stress Concentration / H-slit type beam / フォースセンサ / 過負荷防止 / 弾性はり / 弾性ヒンジ / 溝付きはり / 微小力測定
Research Abstract

The objective of this study is to design and develop a small 6-axis force sensor and micro force-sensing device, using the slit type beam structure. The results of this research are summarized as follows.
1. We proposed H-slit type parallel beam structure in our previous work. This sensor structure alone can be realized for overload prevention without any other parts and can be embedded as overload prevention mechanism in the structure. However, to care for fatigue failure, flatness of the stress distribution in the notch is important for a slit type beam when using it for ceramics. 1) To determine the optimum notch shape for a notched beam. The results showed that an elliptical notch with a minor-axis-to-major-axis ratio of 1/5 to 1/6 gave relatively good performance for torsional rigidity. 2) To prevent the fatigue failure on the H-slit beam, flatness of the stress distribution and the curvature of maximum stress part in the notch are important. About this, the ellipse of minor axis and major axis ratio 1/5 showed good result. 3) In case of the elliptical profiles, generated strains are slightly larger than the rectangle profiles. 4) The acting point of overload prevention can be built up at the design stages by calculation correctly. However, the rotational center at the notch is important. The ellipsoid curves rotational center is placed more in vicinity of notch center as compared to the rectangular curves. 5) This H-slit beam is to be applied to the micro-scissors type haptic device to convey feeling of cutting in brain surgery seen under microscope.
2. It was analyzed for Stewart Platform type structure model using FEA and to fabricate prototype model small 6-axis force sensor. However, it yet remains out of reach of the goal, because of difficulty in cutting out of the interference of cross talk from the beams generated signals.
3. The result of research has been presented in the domestic and international conferences and has also been reported to the journals.

Report

(3 results)
  • 2007 Annual Research Report   Final Research Report Summary
  • 2006 Annual Research Report
  • Research Products

    (25 results)

All 2008 2007 2006

All Journal Article (10 results) (of which Peer Reviewed: 3 results) Presentation (15 results)

  • [Journal Article] Overload Protection Mechanisms for a Force Detection Beam in a Force Sensor2008

    • Author(s)
      Koyu Abe
    • Journal Title

      Journal of Robotics and Mechatronics Vol.20, No.2

      Pages: 316-321

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] 生態軟組織の切断操作間隔を提示するマイクロ剪刀型ハプティックデバイスの開発2008

    • Author(s)
      藤野翔平, 他
    • Journal Title

      日本ロボット学会誌 Vol.26, No.1

      Pages: 82-89

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Annual Research Report 2007 Final Research Report Summary
    • Peer Reviewed
  • [Journal Article] Overload Protection Mechanisms for a Force Detection Beam in a Force Sensor2008

    • Author(s)
      Koyu Abe at all
    • Journal Title

      Journal of Robotics and Mechatromcs, Reviewed Vol.20, No.2

      Pages: 316-321

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Development of a Micro-Scissors Type Haptic Device with Operational Feeling of Cutting Soft Tissue2008

    • Author(s)
      Shohei Fujino at all
    • Journal Title

      Journal of Robotics Society of Japan, Reviewed Vol. 26, No. 1

      Pages: 82-89

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Journal Article] Overload Protection Mechanisms for a Fore Detection Beam in a Force Sensor2008

    • Author(s)
      Koyu Abe
    • Journal Title

      Journal of Robotics and Mechatronics Vol.20, No.2(掲載決定)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 摺動部にエポキシ樹脂を用いた高精度ボールジョイントの開発2007

    • Author(s)
      阿部幸勇
    • Journal Title

      精密工学会誌 73巻4号(印刷中)

    • NAID

      110006242355

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Development of a Highly Accurate Ball Joint to Use Epoxy-Type Bond2006

    • Author(s)
      Koyu ABE
    • Journal Title

      Proceedings of the Second Asia International Symposium on Mechatronics (AISM-2006) B4-05(CD-ROM)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] マイクロ剪刀型ハプテックデバイスのためのH型溝力覚センサの開発2006

    • Author(s)
      小林輝
    • Journal Title

      24回日本ロボット学会学術講演会予稿集 1C35(CD-ROM)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 摺動部にエポキシ樹脂を用いたパラレルロボット用ボールジョイントの開発2006

    • Author(s)
      阿部幸勇
    • Journal Title

      第11回知能メカトロニクスワークショップ講演論文集

      Pages: 186-191

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 生体軟組織の切断操作感覚を提示するマイクロ剪刀型ハプチックデバイスの開発2006

    • Author(s)
      藤野翔平
    • Journal Title

      24回日本ロボット学会学術講演会予稿集 2K12(CD-ROM)

    • Related Report
      2006 Annual Research Report
  • [Presentation] 実マイクロ剪刀を利用した切断感覚提示装置の開発2007

    • Author(s)
      藤野翔平, 他
    • Organizer
      第8回SICEシステムインテグレーション部門講演会(SI2007)
    • Place of Presentation
      広島市
    • Year and Date
      2007-12-22
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Developement of a Haptic Device with a Pair of Actual Micro-Scissois to Display Feeling of Cutting2007

    • Author(s)
      Shohei Fujino at all
    • Organizer
      Proceedings of the 8th SICE System Integration Proceedings of the 8th SICE System Integration Division Annual Conference (SI2007)
    • Place of Presentation
      Hiroshima, (in Japanese)
    • Year and Date
      2007-12-22
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 過負荷防止機構を有する力センサ用溝付きはりの最適溝形状2007

    • Author(s)
      阿部幸勇, 他
    • Organizer
      2007年精密工学会東北支部学術講演会
    • Place of Presentation
      八戸市
    • Year and Date
      2007-12-01
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Optimum Notch Profile for a Slitted Force Sensor Beam to Function as an Overload Prevention Mechanism2007

    • Author(s)
      Koyu Abe at all
    • Organizer
      Proceedings of the 2007 Tohoku Section of the Jpan Society for Precision Engineering, pp. 55-56
    • Place of Presentation
      Hachinohe(Japan) (in Japanese)
    • Year and Date
      2007-12-01
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 過負荷防止機構を有するカセンサ用溝付きはりの最適溝形状2007

    • Author(s)
      阿部幸勇
    • Organizer
      2007年精密工学会東北支部学術講演会
    • Place of Presentation
      八戸市
    • Year and Date
      2007-12-01
    • Related Report
      2007 Annual Research Report
  • [Presentation] Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor2007

    • Author(s)
      Koyu Abe at all
    • Organizer
      Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007)
    • Place of Presentation
      Harbin (China)
    • Year and Date
      2007-08-07
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor2007

    • Author(s)
      Koyu Abe at all
    • Organizer
      Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA2007)
    • Place of Presentation
      Harbin (China)
    • Year and Date
      2007-08-07
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 力検出用はりにおける過負荷防止機構2007

    • Author(s)
      阿部幸勇, 他
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会'07
    • Place of Presentation
      秋田市
    • Year and Date
      2007-05-12
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Annual Research Report 2007 Final Research Report Summary
  • [Presentation] Optimum Notch Profile for a Slitted Force Sensor Beam to Function as an Overload Prevention Mechanism2007

    • Author(s)
      Koyu Abe at all
    • Organizer
      Proceedings of the 2007 JSME Conference on Robotics and Mechatronics, 1P1-A07
    • Place of Presentation
      Akita(Japan), (in Japanese)
    • Year and Date
      2007-05-12
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 実マイクロ勇刀を利用した切断感覚提示装置の開発2007

    • Author(s)
      藤野翔平
    • Organizer
      第8回SICEシステムインテグレーション部門講演会(SI2007)
    • Place of Presentation
      広島市
    • Related Report
      2007 Annual Research Report
  • [Presentation] Overload Protection Mechanisms for Force Detecting Beam in a Force Sensor2007

    • Author(s)
      Koyu Abe
    • Organizer
      Proceedings of the 2007 IEEE International Conferenceon Mechatronics and Automation(ICMA 2007)
    • Place of Presentation
      Harbin (China)
    • Related Report
      2007 Annual Research Report
  • [Presentation] マイクロ剪刀型ハプテックデバイスのためのH型溝力覚センサの開発2006

    • Author(s)
      小林輝, 他
    • Organizer
      第24回日本ロボット学会学術講演会
    • Place of Presentation
      岡山市
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] 生体軟組織の切断操作感覚を提示するマイクロ剪刀型ハプティックデバイスの開発2006

    • Author(s)
      藤野翔平, 他
    • Organizer
      第24回日本ロボット学会学術講演会
    • Place of Presentation
      岡山市
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Development of an H-slit Force Sensor for a Micro-Scissors-Type Haptic Device2006

    • Author(s)
      Akira Kobayashi
    • Organizer
      Proceedings of the 24th Annual Conference of the Robotics Society of Japan, 1C35
    • Place of Presentation
      Okayama(Japan), (in Japanese)
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary
  • [Presentation] Developement of Micro-Scissors Type Haptic Device with Operational Feeling of Cutting Soft Tissue2006

    • Author(s)
      Shohei Fujino at all
    • Organizer
      Proceedings of the 24th Annual Conference of the Robotics Society of Japan, 2K-12
    • Place of Presentation
      Okayama(Japan), (in Japanese)
    • Year and Date
      2006-09-14
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2007 Final Research Report Summary

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Published: 2006-04-01   Modified: 2016-04-21  

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