2results about How to "Small coupling between dimensions" patented technology

The application discloses a micro strain type six-dimensional force sensor and a calibration device thereof. The sensor comprises an elastic body, three groups of moment measuring strain gauges, three groups of force measuring strain gauges and a circuit board. The elastic body comprises a fixing stud, a base, four inverted L-shaped sensitive beams and a force guide column which are sequentially connected in an integrated manner from bottom to top. The four inverted L-shaped sensitive beams are evenly distributed along the circumference of the base. Each inverted L-shaped sensitive beam comprises a vertical floating beam and a horizontal cross beam which are connected in an integrated manner. The three groups of moment measuring strain gauges are respectively attached to the upper and lower sides and the left and right sides of the horizontal cross beam. The three groups of force measuring strain gauges are respectively attached to the inner and outer sides of the vertical floating beam. The circuit board is clamped on the base and located between the four vertical floating beams. The three groups of moment measuring strain gauges and the three groups of force measuring strain gauges are respectively electrically connected with the circuit board. The application has the advantages of high sensitivity, good isotropy and low inter-dimension coupling and is suitable for six-dimensional force measurement of a mechanical finger tip or a small robot wrist.

The invention discloses a full-plane six-dimensional force sensor elastic body, relates to the field of six-dimensional force sensor elastic bodies, and mainly aims at solving the problem that an existing six-dimensional force sensor elastic body is difficult to consider small size, light weight and large bearing capacity at the same time, the elastic body comprises an outer ring and an inner ring, and the outer ring is arranged on the outer side of the inner ring in a sleeving mode; the outer ring and the inner ring are connected through four beam body assemblies, the four beam body assemblies are arranged between the outer ring and the inner ring at equal intervals in the circumferential direction, one end of each beam body assembly and the outer ring are integrally formed, the other end of each beam body assembly and the inner ring are integrally formed, and each beam body assembly is provided with a strain measurement unit assembly. The elastic body structure is mainly used as an elastic body structure in a full-plane six-dimensional force sensor.