1. Calculate expected
moment and forces
Moment capacity is
usually the determining factor in choosing the best transducer model for your application.
The end-effector attached to the transducer as well as the tasks being performed
will generate forces on the transducer, which will result in a moment. The moment
is the applied force (dynamic and static together) multiplied by the distance from
the transducer origin to the point at which the force is applied. It is important
to also consider overload conditions beyond the normal operating forces and moments
the transducer will experience.
2.
Identify transducer strength
Use
the table on our
F/T Models
page to compare the measuring ranges of the transducer
models available.
3.
Verify resolution
Next,
the required resolution should be considered. A fine resolution requirement can
conflict with a transducer chosen based on moment capacity. Transducers with larger
ranges have coarser resolutions
4.
Inspect other transducer specifications
Compare
the detailed specifications of the chosen transducer to those of your application
requirements to be certain the chosen transducer is appropriate for your application.
Example:
The expected maximum
measured load is 98 N (10 kg) of force and the end-effector is 25 cm long. The moment
generated would be 24.5 Nm. The best F/T would be a Delta/SI-330-30 (330 N, 30 Nm)
which can handle the 24.5 Nm moment. The maximum single-axis moment rating (Txy)
of this model is 190 Nm, which should be sufficient for overload situations.
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