Maximum structural error propagation of multi-axis force sensors

Abstract

In multi-axis force sensors, compliance matrices representing structural bahavior of internal sensor bodies play an important role in decoupled sensing and accuracy. Recently, error propagation through compliance matrices has been studied via approximation approach. However the upper bound of measured force error has not been known. In this paper, error propagation in force sensing is analyzed in a unified way when both strain measurement error and compliance matrix error exist, and the upper bound of the measured force error is derived (not approximately). The validity of the analysis is investigated through a numerical example.