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Multi-dimensional Force Acquisition Method Based on Parallel Link Multi-dimensional Force Sensor

A technology of multi-dimensional force sensor and acquisition method, which is applied in the direction of measuring force components, measurement of property force using piezoelectric devices, instruments, etc., can solve the problems of small sensor structure stiffness, low multi-dimensional force accuracy, and complicated calculation process, etc. Achieve the effect of fast calculation speed, high calculation accuracy and high precision

Active Publication Date: 2022-02-01
马洪文 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The present invention aims to solve the problems of low precision of multi-dimensional force obtained by the existing multi-dimensional force sensor (mainly due to excessive inter-dimensional coupling), small structural stiffness of the sensor, too complicated calculation process and poor real-time performance, etc.

Method used

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  • Multi-dimensional Force Acquisition Method Based on Parallel Link Multi-dimensional Force Sensor
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  • Multi-dimensional Force Acquisition Method Based on Parallel Link Multi-dimensional Force Sensor

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specific Embodiment approach 1

[0087] Parallel rod system multi-dimensional force sensor, such as figure 1 As shown, the support platform and the load platform are rigid bodies (in practical applications, both the support platform and the load platform are pseudo-rigid bodies, that is, approximate rigid bodies with minimal deformation), and the load platform and the support platform are connected by a parallel rod system (multiple strain beams) , the strain beam in the parallel bar system is used as the elastic sensitive element;

[0088] A micro-displacement measurement sensor is arranged between the support platform and the load platform to measure the micro-displacement between the two (caused by the deformation of the strain beam). The micro-displacement measurement sensor includes electrical, optical displacement sensors and other non-contact or micro-force contact sensors; electrical Displacement sensors generally use electrical sensors such as capacitance, inductance, and eddy current, and optical di...

specific Embodiment approach 2

[0094] Before describing this embodiment, the representation form of the space vector symbol of the present invention is firstly described, for example The whole of each parameter is described as a form;

[0095] The main body of the symbol represents a space vector, Q represents a generalized force including force and moment, F represents a force, and M represents a moment; Δ represents a generalized deformation including displacement and rotation angle deformation, ΔD represents displacement deformation, Δθ represents rotation angle deformation; r represents a strain beam The distance between the origin of the local coordinate system and the origin of the global coordinate system in the global coordinate system, β represents the rotation angle of the local coordinate system of the strain beam around the three axes of the global coordinate system;

[0096] The superscript on the upper left corner represents the coordinate system, the upper corner on the upper left corner i...

specific Embodiment approach 3

[0157] According to this embodiment, the micro-displacement of the load platform in six directions under the action of external force is measured by the micro-displacement measuring sensor arranged between the support platform and the load platform. The specific process is as follows:

[0158] The measurement of the displacement of the load platform can use a non-contact electrical displacement sensor or an optical displacement sensor or a micro-force contact displacement sensor:

[0159] As shown in Figure 9, Figure 9(a) is a capacitive sensor, only x j The displacement on the axis has an effect on the capacitive displacement sensor; Figure 9(b) is a triangular light sensor, and only x j The displacement on the axis has an effect on the triangular optical displacement sensor;

[0160] As shown in Figure 10(a) and Figure 10(b), the local coordinate system of the displacement sensor attached to the displacement sensor is established, and the displacement direction measured by ...

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Abstract

The invention relates to a multi-dimensional force acquisition method based on a parallel bar system multi-dimensional force sensor, which belongs to the technical field of sensor measurement. In order to solve the problems of large coupling between multi-dimensional forces obtained by existing multi-dimensional force sensors, low precision, and small structural stiffness of sensors. The invention establishes the vector transformation relation matrix between the local coordinate system and the global coordinate system, obtains the observable quantity according to the local deformation displacement of the origin of the coordinate system of the load platform along / around the measurement axis in the local coordinate system, and calculates the load platform under the global coordinate system According to the deformation displacement of the load platform in the global coordinate system, calculate all the local deformation displacements of the corresponding local coordinate origin of each strain beam in the local coordinate system, and calculate the local deformation displacement of each strain beam in the local coordinate system Calculate the local generalized force of each strain beam in the local coordinate system; obtain the multidimensional force of the multidimensional force sensor by solving the linear equation system. It is mainly used for multi-dimensional force acquisition of multi-dimensional force sensors.

Description

technical field [0001] The invention belongs to the technical field of sensor measurement and relates to a method for acquiring force of a multi-dimensional force sensor. Background technique [0002] The multi-dimensional force sensor can detect the information of force acting in space, among which a typical six-dimensional force sensor can obtain 3 component forces and 3 moments formed by the force in the space coordinate system. In aerospace manipulators, aerospace docking, collaborative robots, bionic machinery, medical aids, walking robots, wind tunnel force measurement, aerospace engine thrust testing, propeller thrust testing, automobile crash testing, minimally invasive surgical robots, grinding and polishing equipment, stirring The six-dimensional force sensor plays an important role in many fields such as friction welding and machine tool processing force measurement, and the accuracy of the obtained six-dimensional force directly affects the working performance an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/16G01L5/167G01L5/165
CPCG01L5/16G01L5/167G01L5/165G01L1/22G01L1/16
Inventor 马洪文邢宇卓
Owner 马洪文
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