The topic of this thesis is the design improvement for the 6D force/torque sensor of the humanoidnrobot LOLA by the use of semiconductor strain gauges. The behaviour of metallic and semiconductor strain gauges in combination with the respective sensor is compared regarding non-linearity, temperature behaviour and behaviour under dynamic load. Based on the results of the experimental investigation the mechanical structure of the sensor is adapted to the requirements of semiconductor strain gauges and an alignment and press device for the bonding process is developed. Furthermore, a new calibration method, which takes the non-linearities of the sensor into account, is implemented. By using semiconductor strain gauges and applying the corresponding calibration procedure, more accurate measurements with lower measurement noise are now possible with the sensor.
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The topic of this thesis is the design improvement for the 6D force/torque sensor of the humanoidnrobot LOLA by the use of semiconductor strain gauges. The behaviour of metallic and semiconductor strain gauges in combination with the respective sensor is compared regarding non-linearity, temperature behaviour and behaviour under dynamic load. Based on the results of the experimental investigation the mechanical structure of the sensor is adapted to the requirements of semiconductor strain gauges...
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