M1-3.2 - Robot-Assisted Test Stand for Calibrating 3-D-Printed Torque Sensors

Event

23. ITG/GMA-Fachtagung Sensoren und Messsysteme 2026
2026-06-09 - 2026-06-10
Nürnberg

Band

Vorträge

Chapter

Autonome Systeme und Robotics

Author(s)

L. Stiglmeier, T. M. Wendt - Hochschule Offenburg, Offenburg, S. J. Rupitsch - Albert-Ludwigs-Universität Freiburg, Freiburg

Pages

363 - 369

DOI

10.5162/sensoren2026/M1-3.2

ISBN

978-3-910600-11-9

Price

free

Abstract

The metrological characterization of 3-D-printed torque sensors currently lacks standardized, automated procedures, which limits the comparability of research results. This contribution introduces a robot-assisted test stand designed for the automated and reproducible calibration of such sensors. The system employs a vertical articulated-arm robot to handle standard weights, effectively eliminating human-induced variability. In this setup, a reference torque sensor serves as the primary traceability standard, whereas the robot-controlled lever-mass system ensures a stable load application. A mathematical model based on the GUM (Guide to the Expression of Uncertainty in Measurement) is implemented to quantify the combined measurement uncertainty. Our analysis shows that the robot’s positioning repeatability of 20 µm provides the necessary loading conditions for the reference instrumentation, thereby minimising parasitic forces. Consequently, the overall accuracy is primarily defined by the reference sensor itself. The presented setup enables an automated and traceable characterization of 3-D-printed torque sensors under reproducible conditions.