Heavy-duty weak-coupling four-dimensional force measuring platform

Abstract

The invention relates to a heavy-load weak-coupling four-dimensional force measurement platform which comprises a force measurement plate, a bottom frame and more than twelve force measurement branched chains. The bottom frame is of a frame structure defined by the bottom face and four sides, more than twelve force measurement branched chains are distributed on the lower surface of the force measurement plate and four sides, central lines of the force measurement branched chains arranged on the same face are parallel, central line of the force measurement branched chains on the adjacent sides are perpendicular, and the force measurement plate is connected with the bottom frame through the force measurement branched chains. The heavy-load weak-coupling four-dimensional force measurement platform has the advantages of being simple in structure, adopting the force measurement branched chains with double-spherical-surface concentric mosaic structures, reducing friction and dimensional coupling, achieving pull-press bidirectional mechanism decoupling in the force measurement branched chains and being suitable for heavy-load large-tonnage high-accuracy multi-dimensional force measurement.

Description

technical field [0001] The invention relates to the field of multidimensional force sensors, in particular to a heavy-duty weakly coupled four-dimensional force measuring platform. Background technique [0002] Multi-dimensional force sensors have become the most important type of sensors because they can sense all the information of external forces and torques. They are widely used because they can monitor changes in the direction and magnitude of forces in real time, such as precision assembly, contour tracking, two-handed coordination, and multi-finger dexterity. Fields such as hand and robot force feedback. At present, due to the rapid development of the aerospace field, there is an urgent need for a heavy-duty multi-dimensional force measuring device that can sense large-tonnage forces and moments in areas such as thrust vector testing, flight testing experiments, wind tunnel experiments, and space docking. [0003] The multi-dimensional force sensitive elements involv...

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Problems solved by technology

[0003] The multi-dimensional force sensitive elements involved in Chinese patents ZL93224329.0, ZL200810025591.2 and ZL99102421.4 are all processed and formed at one time. Due to the limitation of the strength of the base material and its structure, it is more suitable for small-scale multi-dimensional force measurement. If it is applied to a large number of Long-distance multi-dimensional force measurement will cause large inter-dimensional coupling, which cannot meet the requirements of high-precision force measurement

[0004] Parallel structures are often used to realize multi-dimensional force measurement, but at present, ordinary spherical joint structures are often used in common force-measuring branch chains. Due to the existence of sliding friction, there is a common phenomenon of serious inter-dimensional coupling, especially in heavy-duty and large-tonnage multi-dimensional force measurement. Leading to problems such as low measurement accuracy and complex calculation of force mapping

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