Parallel-connection three-dimensional force sensor with decoupling structure

Abstract

The invention relates to a parallel-connection three-dimensional force sensor with a decoupling structure, belonging to the technical field of sensors. The sensor consists of a fixed base 1, a force measurement platform 2 and three branches which connect the fixed base and the force measurement platform, wherein the fixed base 1 is fixedly connected with three force-sensitive inductive elements 6, 10 and 14 and connected with each branch through a revolving pair, the force measurement platform is connected with each branch through the revolving pair, each branch is formed by connecting the three revolving pairs in series, three revolving pair axes forming the same branch are parallel with each other, the revolving pair axes among different branches are perpendicular to each other in space, and the force signal detected by the force-sensitive inductive element of each branch has the same direction with the revolving pair axes of the branch. The sensor can sense special three-dimensional information, has symmetrical structure, simple manufacture and dimensional decoupling, is formed by assembling separative elements, is convenient for realizing seriation, and can be applied to various fields, such as robots, aerospace, athletic sports, and the like needing for three-dimensional force measurement.

Description

technical field [0001] The invention belongs to the technical field of sensors, and in particular relates to a three-dimensional force sensor with a parallel decoupling structure, which can be used to test force component information in three mutually perpendicular directions in space. Background technique [0002] Sensors play an important role in industrial production, national defense construction and science and technology. Sensor technology is one of the three pillars of modern information technology. The three-dimensional force sensor can be used to monitor the force information of three mutually perpendicular directions in a space with changing directions and sizes. It is a very important type of sensor and is widely used in precision assembly, automatic grinding, two-hand coordination, zero-force teaching, etc. At the same time, it also has important application value in the fields of robotics, aviation, aerospace, automobile and sports testing. [0003] According t...

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Problems solved by technology

At present, the elastic body of the three-dimensional force sensor mainly adopts the beam structure (patent 200510123188.X, Wu Zhongcheng, etc.; (Patent 98251146.9, Wang Guotai, etc.), and most of them are monolithic structures, which are relatively complicated in design, calculation and manufacturing, and the coupling between the various forces is difficult to eliminate, and the accuracy is low

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