Control of a system based on a 3D printed torque sensor

Finished: 2023-02-10

MSc assignment

This MSc thesis is based on the work previously done within the NIFTy group at the Robotics and Mechatronics lab. In particular, the focus is given on the topic of control based on the feedback of 3D printed sensors.

The current literature will be studied in order to find the most appropriate working principles that can be used to design a torque sensor.

The next challenge is to realize the initial design based on the insight gained from the literature phase, evaluate the realized geometry, and iterate based on the outcome.

After the sensor realization, the next step will be to characterize its response. An experimental setup will be used to measure the response of the sensor to specific excitations in order to investigate properties such as stress-response, response drift, creep and hysteresis.

The fourth part will be the control of a to-be-determined system equipped with a 3D printed torsion or torque sensor. Various control methods for compensation of drift, creep and hysteresis will be considered.  simulation, based on the system's analytical description, will be set up and will allow tuning and optimization of the control scheme, as well as the comparison between the modelled and real system.