Stiffness models of novel force/displacement sensors

Abstract

Miniaturization in field of robotics leads to use of elastic deformation where whole robotic device (precise positioning device, micro-gripper, etc.) is build from one piece of material. The disadvantage of such specific robotic devices is complicated approach to measure of their movement and acting forces. Application of influence of electromagnetic field with parallel resonating circuit seems as suitable method for sensing small deflections. This paper describes mentioned method of wireless measurement of small deflections of compliant robotic structure. Two structures of one and two-component force/displacement sensor are presented as examples using this approach. In the paper we are focused to mathematical description of stiffness models which provide basic static and dynamical properties of such structures.