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Dependence of the natural frequencies of a force-moment sensor on the design parameters. (English. Russian original) Zbl 0606.73065
Mosc. Univ. Mech. Bull. 41, No. 3, 10-16 (1986); translation from Vestn. Mosk. Univ., Ser. I 1986, No. 3, 64-49 (1986).
Resistive strain-gauge sensors of forces and moments for the wrist joints of robots are considered. The way in which the lowest natural frequency of the sensor depends on the design parameters (including the size), with allowance for the sensitivity requirements, is examined. It is assumed that the elastic element of the sensor consists of beams that experience bending with torsion. Theoretical and experimental findings are compared for three types of elastic elements.
74H45 Vibrations in dynamical problems in solid mechanics
70Q05 Control of mechanical systems