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Six-axis force sensors play an important role in civilian and military fields because of their multifunctionality. In the context of sensor structure design, sensitivity and sensitivity isotropy are often considered. This paper aims to study the possible relationship between the sensitivity/sensitivity isotropy and structural parameters of an 8/4–4 parallel six-axis force sensor. A comprehensive evaluation index and structural optimization design scheme are suggested in the end.

Based on the conditional number of the Jacobian matrix spectral norm, the sensitivity and sensitivity isotropy of the sensor are derived. Orthogonal experiments are used to determine the degree of primary and secondary factors that have a substantial effect on the sensor characteristics. The relationship between the performance indices and the structural parameters is analyzed by the performance atlas method. The comprehensive evaluation index lays the foundation for the structural optimization design of an 8/4–4 parallel six-axis force sensor.

The variation in each performance index of the sensor for each of the structural parameters is analyzed, and the structural parameters of the sensor with the desired performance indices can be easily selected from the performance atlases. A comprehensive performance evaluation index with a target value of 1 is proposed, and the overall influence of the structural parameters on the sensor performance index is investigated. A simulation example shows the feasibility of the proposed evaluation index.

The importance of each structural parameter of the 8/4–4 parallel six-axis force sensor is determined through orthogonal experiments in this paper. Relations among the structural parameters meeting the performance indices are derived and shown in the performance atlases. A comprehensive evaluation index is proposed to analyze the overall sensor performance.

This paper aims to develop a novel miniature 3-axis force sensor which can detect the interaction forces during tissue palpation in MIS (minimally invasive surgery). MIS offers many significant merits compared with traditional open surgery, the wound to the patients and the postoperative pains are alleviated and reduced dramatically. However, the inherent drawback due to lack of force feedback still exists while conducting some operation procedures. For example, tissue palpation performed easily during open surgery could not be realized in an MIS manner.

The force sensor is based on the resistive-based sensing method that utilizes strain gauges to measure the strain when the external loads are acting on the tip of the sensor. A novel flexible tripod structure with bending and compression deformations is designed to discriminate the magnitudes and directions of the three orthogonal force components. A linear characteristic matrix is derived to disclose the relationship between the sensitivity and the geometric parameters of the structure, and a straightforward geometric parameterized optimization method considering the sensitivity isotropy is proposed to provide the sensor structure with high sensitivity and adequate stiffness.

The sensor prototype can perform force measurement with sensing ranges of ± 3.0 N in axial direction and ± 1.5 N in radial direction, and the resolutions are 5 per cent and 1 per cent, respectively. It is concluded that this force sensor is compatible with MIS instruments and the ex-vivo experiment shows that the sensor can be used to perform tissue palpation during MIS procedures.

This paper is intended to address the significant role of force sensing and force feedback during MIS operations, and presents a new application of the resistive-based sensing method in MIS. A tripod structure is designed and a straightforward optimization method considering the sensitivity isotropy of the sensor is proposed to determine geometric parameters suited for the given external loads.

Three-axis accelerometers play a vital role in monitoring the vibrations in aircraft machinery, especially in variable flight temperature environments. The sensitivity of a three-axis accelerometer under different temperature conditions needs to be calibrated before the flight test. Hence, the authors investigated the efficiency and sensitivity calibration of three-axis accelerometers under different conditions. This paper aims to propose the novel calibration algorithm for the three-axis accelerometers or the similar accelerometers.

The authors propose a hybrid genetic algorithm–particle swarm optimisation–back-propagation neural network (GA–PSO–BPNN) algorithm. This method has high global search ability, fast convergence speed and strong non-linear fitting capability; it follows the rules of natural selection and survival of the fittest. The authors describe the experimental setup for the calibration of the three-axis accelerometer using a three-comprehensive electrodynamic vibration test box, which provides different temperatures. Furthermore, to evaluate the performance of the hybrid GA–PSO–BPNN algorithm for sensitivity calibration, the authors performed a detailed comparative experimental analysis of the BPNN, GA–BPNN, PSO–BPNN and GA–PSO–BPNN algorithms under different temperatures (−55, 0 , 25 and 70 °C).

It has been showed that the prediction error of three-axis accelerometer under the hybrid GA–PSO–BPNN algorithm is the least (approximately ±0.1), which proved that the proposed GA–PSO–BPNN algorithm performed well on the sensitivity calibration of the three-axis accelerometer under different temperatures conditions.

The designed GA–PSO–BPNN algorithm with high global search ability, fast convergence speed and strong non-linear fitting capability has been proposed to decrease the sensitivity calibration error of three-axis accelerometer, and the hybrid algorithm could reach the global optimal solution rapidly and accurately.

The force sensing is used in robotic assembly tasks. The sensors developed are much advanced and costly. The force transducers are generally configured and deployed at the wrist of the robotic arm. The purpose of this paper is to describe the concept of an elastic transducer to make available cost-effective force sensor with simple construction and analysis.

The analytical formulation is developed herewith for one-, two- and three-axis elastic cantilever configuration. The force to be measured can be calculated analytically using derived strain expressions. The strains are estimated using proposed formulation, further crosschecked through FEA approach. The analytical method for strain estimation using moment equations is presented along with validation using finite element method (FEM) tool (ANSYS 15.0) with the case study.

The derivation of expressions for force components from strains is developed. The resulting formulation found to confirm the estimated strains from analytical methods closely to the FEM results. Theoretically, it is possible to find contact forces and angle of force on stationary force platform. It is found that the magnitude of estimated contact forces is within 1 per cent deviations.

The mathematical modeling and FEA simulation of the three-axis force sensor under elastic (no deformation) conditions.

These sensors are ranging from simple crossbar structure to Stewart platform type. The subsequent development in this field pertains to performance enhancement such as accuracy and cross-sensitivity. The basic structure of the sensor has not changed drastically. The major problem, as discussed by many authors, is a complex interdependence of six components and intricate geometrical structure. Derivation of expressions for force components from strains is a breakthrough contribution by the authors. The analytical treatment for finding the strains is aimed in this paper.

This paper aims to investigate the printability of photocurable PDMS with digital light processing (DLP) in terms of dimensional accuracy, mechanical properties, isotropy and postcure shrinkage.

The photocurable PDMS was made from methacrylated PDMS-macromer and 2,4,6-Trimethylbenzoyldi-Phenylphosphinate (TPO-L) photoinitiator. The PDMS was printed using different orientations, sizes and post-exposure conditions and then evaluated by tensile test and microscope to determine the printability.

Printed parts show good accuracy and low shrinkage, but high directionality in modulus, ductility and strength. The dimensional error is less than 2% and the shrinkage rates are less than 0.52%. In contrast, the modulus varies between 0.87 and 0.96 MPa depending on print orientation, elongation varies from 34.7% to 66.4% and strength varies from 0.23 to 0.49 MPa.

This study quantitatively characterizes the printability of photo curable PDMS with DLP, which has not been reported elsewhere. This paper also discusses the challenges of PDMS printing for future advancement.

Fatigue damage of internal threads has gradually become the main failure mode of force sensor. To make the internal thread structure of force sensor meet the fatigue performance requirements, the design criteria of static strength and fatigue life are comprehensively considered in this paper.

The variation of static stress and fatigue life with the size of the main structure is obtained by simulation. By changing the number of thread turns, the hub height and outer diameter of the hub, the optimized design of the spoke force sensor is determined.

The experiment was carried out based on the determined optimized structure, and the results showed that the fatigue life meets the design requirements.

This research has certain guiding significance for the design and developments of high-cycle fatigue force sensors.

THE work described in this paper is part of a programme concerned with the plastic, creep, and relaxation properties of metals under complex stress systems at elevated temperatures.which is being carried out in the Engineering Division of the N.P.L. It comprises data on the criterion of departure from elastic behaviour, of a low carbon steel over the temperature range 20–550 deg. C, and of an aluminium alloy over the temperature range 20–200 deg. C, and the creep properties under complex stress systems of the low carbon steel at 350 deg. C, and of the aluminium alloy at 150 and 200 deg. C.

The purpose of the investigation was to examine the tertiary creep and the creep fracture characteristics of an aluminium alloy to specification B.S.2L42, subject to complex stressing at 200 dog. C. The scope of the work involved seven pure torsion, pure tension, and combined tension and torsion creep tests, of durations between 300 hrs. and 3,000 hrs., on the aluminium alloy at 200 deg. C., and analysis of the results.

The paper aims to propose a rate‐dependent model of structural concrete in combination with the kinematics of condensed water.

First, the paper proposes the coupling model of water versus cracked concrete with a mathematical completeness of equilibrium and deformational compatibility. The proposed model deals with anisotropy of structural performance and of permeability, which is a particular issue of concrete caused by cracks. The governing equation for saturated concrete in this study is based on Biot's theory that deals with particle assembly as a two‐phase composite. Second, the paper shows the possible reduction of the fatigue life of real‐scale bridge RC decks owing to the water residing in structural cracks under moving wheel‐type loading.

The paper shows that the existence of water possibly has an influence on the rate‐dependency of structural performance. The comparison of transition of pore pressure and principal strain indicates that damage to the concrete skeleton is accelerated by internal stress caused by high pore pressure. It suggests that the existence of water can reduce the fatigue life of bridge decks, especially when the upper layer is saturated.

This paper clarifies the effect of pore water on structural concrete by using numerical model considering kinematics of water.

The purpose of this paper is to rigorously determine the tensile properties of a selective laser sintering (SLS) material. Emphasis was placed on the anisotropy and inhomogeneity of the material, the repeatability of the SLS process, and the effect of age (actually moisture absorption) on the material properties.

Two builds of 144 dogbone tensile specimens each were tested, with 18 specimens stored for 43 days in a non‐desiccated environment before testing. Specimens were distributed throughout the build volume and aligned with the apparatus' principal axes. Tensile properties were treated statistically, using the t‐test to determine the differences between various samples.

The material was transversely isotropic in Young's modulus and strain to failure, and generally orthotropic in ultimate tensile strength. The material was inhomogeneous throughout the build volume and affected by age, with a 57 per cent reduction in University of Technology after 43 days (the changes in properties were suggested to be due to moisture absorption). Properties varied by up to 25 per cent from build‐to‐build with no change in nominal process parameters.

It was not possible to confirm the “ageing” effect was caused by moisture absorption, and further work is suggested in this area. The causes of inhomogeneity and the effect of re‐coater action should also be studied further.

This is the most complete study of an SLS material's mechanical properties to date. The statistical analyses used further allow increased confidence in the conclusions drawn. This is also the only study to use cross‐fill scanning to produce specimens, and, therefore, isolate the effect of the re‐coater action.