A double-cross beam three-dimensional force sensor based on fiber grating

Abstract

The invention relates to the technical field of multi-dimensional force sensing, and specifically discloses a fiber grating-based double-cross beam three-dimensional force sensor, including an upper elastic disc, a lower elastic disc, a force transmission column and an optical fiber grating assembly; the upper elastic disc includes an internal The disc body I with a cavity and the plane strain beam I located in the cavity, the plane strain beam I has a cross-shaped structure and has four branch beams I; the lower elastic disc includes the disc body II with a cavity inside and the plane strain beam I located in the cavity The plane strain beam II in the cavity, the plane strain beam II has a cross-shaped structure and has four branch beams II; the lower end of the force transmission column is vertically connected to the center of the plane strain beam II, and the upper end passes through the through hole I, and the force transmission column There is clearance fit between the post and the through hole I; the fiber grating component includes a first fiber grating, a second fiber grating, a third fiber grating and a fourth fiber grating. The invention can resist electromagnetic interference, resist corrosion, reduce coupling between dimensions, increase sensitivity, and realize temperature compensation at the same time, and has a simple structure and is easy to process.

Description

technical field [0001] The invention relates to the technical field of multi-dimensional force sensing, in particular to a fiber grating-based double cross-beam three-dimensional force sensor. Background technique [0002] The multi-dimensional force sensor is one of the most important sensors of the robot, which plays a key role in the feedback of the control of the robot's flexibility, force, and remote operation. The multi-dimensional force sensors installed on the wrist, fingertips, ankles and other joints of the robot are used to perceive the spatial information of the robot when it is subjected to external environmental forces, so that the robot can better understand the environment and accurately complete the corresponding work, such as: contour tracking , Zero-force teaching, picking and placing or handling workpieces, etc. [0003] At present, most of the existing multi-dimensional force sensors use resistance strain gauges as sensing elements, and the number used ...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the existing multi-dimensional force sensors use resistance strain gauges as sensing elements, and the number used is as many as ten or even dozens, resulting in complicated wiring and strong electromagnetic interference, as shown in CN 105973521 A; in addition , the structure of the traditional multi-dimensional force sensor is complex, resulting in large inter-dimensional coupling, and the strain beams are mostly traditional rectangular beams, resulting in low sensitivity of the sensor

Images