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Six dimensional crossing decoupling RSS force sensor

A force sensor and branch chain technology, applied in the field of automatic control, can solve the problems of large design and processing errors of elastic moving pairs, low lateral stiffness of elastic moving pairs, and large coupling between dimensions, achieving high precision, small design errors, fast response effect

Inactive Publication Date: 2007-09-12
YANSHAN UNIV
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Problems solved by technology

[0003] In order to overcome the shortcomings of the existing six-dimensional force sensor, such as low lateral stiffness of the elastic moving pair and large principle error, the present invention provides a six-dimensional orthogonal decoupling RSS force sensor. The elastic body of the sensor has decoupling properties. And the structure of the deformation part is simple, which solves the problems of large design and processing errors of elastic moving pairs and large coupling between dimensions

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  • Six dimensional crossing decoupling RSS force sensor
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  • Six dimensional crossing decoupling RSS force sensor

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Embodiment Construction

[0011] Fig. 1 is an embodiment disclosed by the present invention, between force application platform 1 and fixed platform 3, connect with 3 groups of branch chains, each group of branch chains is made up of two branch chains 2, and their branch chain main rod 2-1 is in The spaces are vertical in pairs, and the fixed platforms 3 connected with each group of branch chains 2 are perpendicular to each other in space. Each set of branches has the same structure and is arranged in parallel. Each branch chain 2 has 2 ball pairs (S pair) and 1 rotation pair (R pair), and the branch chain 2 is composed of branch chain main rod 2-1, elastic ball pair 2-2, rotation auxiliary rod 2-3 and Composed of rotating pairs 2-4, the two ends of the branch chain main rod 2-1 are elastic ball pairs 2-2, and the elastic ball pairs 2-2 are connected with the force application platform 1 by interference fit and rigidly connected with the rotating auxiliary rod 2-3. The rotating sub-rod 2-3 is connecte...

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Abstract

This invention relates to a kind of 6-dimensional crosscut decoupling RSS force transducer, character is: energizing platform ( 1) and fixed platform ( 3) connect by three group branched chain; each group branched chain composed by two parallel branched chain(2); each group branched chain's master rod(2-1) perpendicular in space, and fixed platform(3) that connect with each group branched chain mutual perpendicular in space; each branched chain(2) has two elasticity sphere deputy(2-2) and one turning deputy(2-4), on turning deputy perch(2-3) has elasticity turning deputy(2-5) that cross section is rectangular, and its surface stuck strain gauge(2-6).

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a six-dimensional orthogonal decoupling force sensor for measuring three-dimensional force and three-dimensional moment in space. Background technique [0002] The technical core of the multi-dimensional sensor is the structural design and manufacture of the elastic body. The existing six-dimensional force sensor elastic body has a cross-beam and Stewart (6-SPS) parallel platform structure. The former has strict requirements on the location of the strain gauges, and the coupling between dimensions is large; the latter Stewart (6-SPS), the strain gauges are attached to the rod or the elastic moving pair, and the sensitivity is relatively low when attached to the rod; when attached to the elastic moving pair However, due to the low lateral stiffness of the elastic moving pair, a large principle error is caused. Contents of the invention [0003] In order to overcome th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/20G01P15/18G01L3/00
Inventor 李金良
Owner YANSHAN UNIV
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