Develop of a Pneumatic Force Sensor Prototype
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One of the difficulties of applying a SEA force control is the complexity that exists when implementing its three main components, which must work together one after the other. To facilitate the implementation of a force control by SEA, in this thesis the pneumatic force sensor is developed. A pneumatic force sensor differs from other force sensors in that it can work as a force sensor and as an elastic element. These features facilitate the implementation of force control by SEA, by reducing the number of components required. On the other hand, the pneumatic force sensor has reduced proportions to facilitate its installation in manipulator robots and biomechatronic prostheses. The first step that was made for the development of the pneumatic force sensor was the construction of the mathematical model of the sensor, to later use the MATLAB / Simulink software to simulate it. With the data obtained from the simulation of the mathematical model, the CAD model and the sensor planes were developed in SolidWorks software. Subsequently, the prototype of the pneumatic force sensor was built based on the plans made in the SolidWorks software. Once the stage of construction of the pneumatic force sensor was completed, the calibration and classification of the force sensor was carried out based on the UNE-EN ISO 376 standard, and the experimental tests were carried out to validate the sensor. Once the classification of the pneumatic force sensor was obtained, the results of the simulation of the mathematical model were compared with the results of the experimental test. vi In the comparison, it was possible to show a graphic coherence in the results obtained, validating the pneumatic force sensor system.
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