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Control of a system based on a 3D printed torque sensor

Heeg, Rogier (2023) Control of a system based on a 3D printed torque sensor.

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Embargo date:13 February 2025
Abstract:The technology of Additive Manufacturing started in the early 1980’s but only recently has risen in popularity that resulted in new and optimized processes and introductions to methods like multi-material additive manufacturing. This method paved way for a new field of research on 3D printed sensors using conductive filaments. The main problem with 3D printed sensors is the non-linear behavior in their response which are mainly contributed to hysteresis, drift and creep. This work present the process of design, application and validation of an 3D printed torque sensor using strain gauges. Inspiration was drawn from commercially available mechanical torque sensors, such that a circular sensor design was made with identical and opposing strain gauges that make differential measurements possible. The characterization of the sensor yielded satisfying results, showing minimal non-linear behavior when excited with an low torque, low frequent harmonic input in a controlled setting. For the application a pendulum setup was made that was integrated with the sensor design. The validation of the sensor showed a response of the same magnitude as the input but with larger error. It was found that this error is mainly contributed by the phase lag, due to the real time low pass filtering of the data, and hysteresis. It is thus recommended that, for real time use of the sensor output, research is done to properly filtering real time sensor data and compensation of hysteresis.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 50 technical science in general, 52 mechanical engineering
Programme:Systems and Control MSc (60359)
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