Design and developmental studies on a six-degree of freedom endoscopic force/torque sensor.

摘要

The project focuses on designing a new type of six-degree freedom force/torque sensor and developmental study on it.; The proposed sensor can independently detect six components of force and moment on a test platform. The response characteristics are linear, close to the design values, and high enough to measure the forces and moments expected to act on the sensor in a Cartesian coordinate system. The sensor frame consists of four symmetric beams and a horizontal cross-beam designed to be monolithic. The sensor design is quite simple and has negligible cross sensitivity in the measurements. These properties, combined with its hollow cylindrical shape and small size, make this sensor an ideal choice for endoscopic applications.; This thesis presents the design of a six-degree freedom force/torque sensor with micro-strain gauges. The design is carried out using strength of material type of approach. It is validated using the finite element analysis method. Some problems of calibration are discussed. An experimental set-up is made in order to test the prototype sensor. Experimental data validate the basic design ideas, and the sensor can be very useful tool to monitor and control the force applied by the surgeon in endoscopic operations.