In this paper we present a novel, cost-effective camera-based multi-axis force/torque sensor concept for integration into metallic load-bearing structures. A two-part pattern consisting of a directly incident and mirrored light beam is projected onto the imaging sensor surface. This allows the capturing of 3D displacements, occurring due to structure deformation under load in a single image. The displacement of defined features in size and position can be accurately analyzed and determined through digital image correlation (DIC). Validation on a prototype shows good accuracy of the measurement and a unique identification of all in- and out-of-plane displacement components under multiaxial load. Measurements show a maximum deviation related to the maximum measured values between 2.5% and 4.8% for uniaxial loads ($F_x, F_y,F_z,M_z)$ and between 2.5% and 10.43% for combined bending, torsion and axial load. In the course of the investigations, the measurement inaccuracy was partly attributed to the joint used between the sensor parts and the structure as well as to eccentric load.

In recent years, the trend to extend the functionality of passive metallic structures in mechanical engineering through sensor integration has emerged. This trend is driven by the growing demand for monitoring and/or control approaches. Current state of the art sensory structures and machine elements are successfully produced by integrating sensors into metallic structures using various joining techniques. However, the widespread implementation of sensory structures and machine elements has a long way to go to be achieved. For this purpose, the sensory structures must be produced not only as standardized components, but also cost-effectively with flexible configuration of the sensory characteristics and the integration of associated electronics. This paper provides an overview of the latest joining technologies for sensory structures. A discussion of the features of each joining technique will be given. In view of the importance of force/torque measurement in load-bearing structures and machine elements, an overview will be provided on the advantages and challenges of joining processes that substitute electromechanical transducers with optical non-contact measurement techniques.

Smart load-bearing structures are created by forming integration of functional materials into passive metallic components with target-oriented pre-stress conditions by rotary swaging. Their sensory capability cannot only be used during the utilization but also during the manufacturing phase. Previous works demonstrated how this capability paves the way for efficient monitoring and controlling of the used integration process. In search of an even higher overall efficiency of the manufacturing chain, the subsequent costly calibration step deserves closer attention. Therefore, a cost- and time-efficient approach for the process-integrated calibration of a sensor-integrated structure is proposed in this paper. During the in-process calibration, the acting process forces are measured both in the integrated sensor and in a special-built clamping fixture. The measured data can be transferred into calibration slopes of the sensory structures. A suitable signal processing based on the process characteristics is performed to compensate interference effects on the raw signals. As a result, an accuracy of the calibration better than 2% of the nominal value compared to an offline standardized calibration is achieved with the in-line calibration method. Consequently, efficiency in the manufacturing of sensory structures is further boosted by avoidance of setup or logistical operations.

Uncertainty affects all phases of the product life cycle of technical systems, from design and production to their usage, even beyond the phase boundaries. Its identification, analysis and representation are discussed in the previous chapter. Based on the gained knowledge, our specific approach on mastering uncertainty can be applied. These approaches follow common strategies that are described in the subsequent chapter, but require individual methods and technologies. In this chapter, first legal and technical aspects for mastering uncertainty are discussed. Then, techniques for product design of technical systems under uncertainty are presented. The propagation of uncertainty is analysed for particular examples of process chains. Finally, semi-active and active technical systems and their relation to uncertainty are discussed.

A novel process design for the damage-free and highly accurate positional integration of an optical multi-axial force sensor into a hollow tube by means of rotary swaging is introduced. Numerical simulations reveal the relevant process phenomena of thin disc joining inside a pre-toothed hollow tube and help us to find an optimal process design. Experimental trials show the significant effect of the axial material flow and the number of tools on the rotary swaging process. By taking these effects into account, successful form- and force-fit joining of the sensor carrying discs into the tube can be achieved. Successful joining of an optical sensor for bending force and torque measurement shows hysteresis-free sensory behavior and thus backlash-free joining of the sensor carrier discs. The paper concludes with a presentation of the results of a numerical study on a potential closed-loop approach to the joining process.

A novel process design for damage-free and highly accurate positional integration of an optical multi-axial force sensor into a hollow tube by means of rotary swaging is introduced. Numerical simulations reveal relevant process phenomena of thin disc joining inside a pre-toothed hollow tube and help to find an optimal process design. Experimental trials show a significant effect of axial material flow and the number of tools in a rotary swaging process. By taking these effects into account, a successful form- and force-fit joining of the sensor carrying discs into the tube can be achieved. A successful joining of an optical sensor for bending forces and torque measurement shows hysteresis-free sensory behavior and thus backlash-free joining of the sensor carrier discs. The paper finishes with presenting an approach for closed-loop position controlling during the joining process and numerically investigation of the process design.