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Tactile whisker sensor using flexible 3D printed transducers

Eijking, B. (2017) Tactile whisker sensor using flexible 3D printed transducers.

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Abstract:In this report a first step was shown towards a fully 3D printed tactile whisker sensor. A design was proposed that uses strain gauges to measure the desired quantities. A model was derived to describe the mechanics of the design. From the derived model a relation was made between the measured resistances of the strain gauges and the applied force and moment on the whisker. The obtained model showed a quadratic dependence on the moment as well as a linear dependence on the horizontal force that was applied. The measurements showed a quadratic model could indeed be used to relate the applied force and moment to the resistance change in the strain gauges. However some adjustments had to be made to the model to ensure a good fit was obtained with the measured data. The force calculated from the two resistances showed that the principle can be used as a first approximation. However the measurements that were used to obtain the applied force and moment deviated too much from the real values that it was not possible to accurately determine the arm at which the force was applied. Based on the observations that were done from the measurements the principle of the design shows potential. However more detailed research into the material properties as well as a more detailed mechanical model will be needed to make an accurate whisker sensor that is able to measure the two degrees of freedom.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/81004
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