Six-dimensional force sensor

Abstract

The invention relates to a six-dimensional force sensor which comprises a sensor elastomer and resistance strain gages, wherein the sensor elastomer comprises a cylindrical shell and a crossed elasticbeam; the crossed elastic beam is positioned in the center in the shell and comprises a strain beam (1) and a loading platform (3); an upper base (6) and a lower base (10) are respectively positionedat both ends of the shell; force transmission columns (7) are positioned in the middle of the shell and connected with an upper elastic beam (4) and a lower elastic beam (8); a flexible beam (2) is positioned between the force transmission columns, and the inner side of the flexible beam (2) is connected with the strain beam. A sensor force sensing element comprises the upper elastic beam, the lower elastic beam and the strain beam, and 28 resistance strain gages are attached to the proper position on the force sensing element, wherein 24 strain gages form six groups of full-bridge detectingcircuits for realizing the acquisition of six-dimensional force information, and other four strain gages are reserved. The invention has the characteristics of compact structure, large rigidity, lessdimensional coupling, high precision and good dynamic performance and can be used for the research of an intelligent robot, automated detection and control, bionic motion analysis and sports research.

Description

technical field [0001] The invention relates to the field of design and manufacture of force sensors, in particular to a six-dimensional force sensor. Background technique [0002] Six-dimensional force sensors can measure full force information in three-dimensional space, and are widely used in research fields such as intelligent robots, automatic control, aerospace, and bionic sports, and play an important role in industrial production, national defense construction, and scientific and technological development. For the research of six-dimensional force sensor, the core problem is the structural design of the elastic body. The structure of the elastic body determines the stiffness, resolution, sensitivity and dynamic performance of the sensor, which is the key to the performance of the sensor. Regarding the research on the six-dimensional force sensor, a variety of patented technologies have been formed. For example, the patent CN 2233081Y discloses an integrated six-dimen...

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Problems solved by technology

Regarding the research on the six-dimensional force sensor, a variety of patented technologies have been formed. For example, the patent CN 2233081Y discloses an integrated six-dimensional force / torque sensor combined with a disc structure and a cylinder structure. It has high sensitivity, easy Processing and other advantages, but its disc structure reduces the Z-direction stiffness, and there is a certain degree of force coupling, which cannot achieve complete decoupling; patent CN 2066134U discloses a cylindrical upper and lower structure six-dimensional force / torque sensor, the structure The radial force measurement has great interference with the axial force measurement, and the cylindrical structure increases the axial size and reduces the dynamic performance of the sensor; two dual The six-dimensional force sensor with upper and lower layers, both of which are Stewart-type parallel structure assemblies, has the characteristics of simple measurement principle, high precision, and can withstand large overturning moments, but the structure is not compact, the volume is large, and the post-data processing more complex

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