Three-dimensional angular displacement six-degree-of-freedom sensor system, measuring method and manipulator

Abstract

The invention discloses a three-dimensional angular displacement six-degree-of-freedom sensor system, a measuring method and a manipulator. The sensor system comprises a three-dimensional elastic strain sensing element and complex strain measuring elements; the three-dimensional elastic strain sensing element is of a columnar or tubular structure, one end of the three-dimensional elastic strain sensing element is fixed, and the multiple complex strain measuring elements are arranged at one side of the fixed end of the three-dimensional elastic strain sensing element in an integrated manner; and when the free end of the three-dimensional elastic strain sensing element performs six-degree-of-freedom motion, the displacement of the free end of the three-dimensional elastic strain sensing element is determined according to the measurement values of the complex strain measurement elements. Through the technical scheme of the invention, the response speed of the sensor system is improved, and the accuracy of displacement measurement is improved under the condition of low cost.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a three-dimensional angular displacement six-degree-of-freedom sensor system based on complex strain measurement, a three-dimensional angular displacement measurement method based on the six-degree-of-freedom sensor system based on complex strain measurement, and a manipulator. Background technique [0002] In recent years, with the development of the national economy, the demand for industrial automation has become higher and higher, and the use of manipulators has become more and more popular. It can not only achieve safe operation, but also improve product quality, increase production efficiency, and reduce labor intensity. Avoid manual feeding and retrieving due to fatigue when feeding and inaccurate retrieving. In order to realize the accurate grasping of objects by the manipulator, the manipulator must have fast dynamic response and good positioning accuracy. The position ...

AI Technical Summary

Problems solved by technology

This measurement method can achieve high resolution of the sensor itself, but it is easy to form a chain cumulative error and ignore the deformation of the mechanical arm caused by inertia, resulting in a decrease in accuracy in the closed-loop control of the terminal position

In addition, due to the large amount of use on a single robot, the cost is also high

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