Orthogonal tandem line elastomer type six-dimension force sensor

Abstract

In a orthogonal serial linear elastic body six dimensional force sensor, one end of a cross-section beam (1) of a first rectangle is connected with a forced connecting end (7), while another end thereof is connected with a connecting block (2) of the first rectangle; one end of a cross-section beam (3) of a second rectangle is connected with a connecting block (2) of the first rectangle, while another end thereof is connected with a connecting block (4) of the second rectangle; one end of a cross-section beam (5) of a third rectangle is connected with the connecting block (4) of the second rectangle, while another end is connected with a fixed connecting end (6) of a rectangle; the cross-section beams (1, 3, 5) of the first, the second and the third rectangles are vertically mutually, and a strain foil is respectively located on the three rectangular cross-section beams. Compared with current technique, the invention is structured simply; the measuring principle is simple with small size; the invention is convenient for miniaturization, and the invention is convenient to process or manufacture with high precision. The invention is appropriate for the field of special six-dimensional force measurement for minimal model.

Description

technical field [0001] The invention relates to a sensor structure for measuring six-dimensional force in space, which is mainly used for measuring six-dimensional force in micro-aircraft or other tiny model spaces, and belongs to the field of design and manufacture of force sensors. Background technique [0002] At present, the main application of six-dimensional force sensor research at home and abroad is in robotics. According to the principle of force measurement, it can be divided into resistance strain type, capacitive type, inductive type, piezoelectric type and photoelectric type. According to the structure of elastic body, it can be divided into direct Output type (uncoupled type) and indirect output type (coupled type), but the design principle or processing technology are more complicated. In terms of elastic body structure design, the six-dimensional force sensor has been designed in the form of Stewart structure, beam structure, octagonal ring structure, etc. Al...

AI Technical Summary

Problems solved by technology

[0002] At present, the main application of six-dimensional force sensor research at home and abroad is in robotics. According to the principle of force measurement, it can be divided into resistance strain type, capacitive type, inductive type, piezoelectric type and photoelectric type. According to the structure of elastic body, it can be divided into direct Output type (uncoupled type) and indirect output type (coupled type), but the design principle or processing technology are more complicated

In terms of elastic body structure design, the six-dimensional force sensor has been designed in the form of Stewart structure, beam structure, octagonal ring structure, etc. Although all of them can realize the measurement of six-dimensional force, the structural design, calculation principle and production are very different Complex, structure is not miniaturized enough

Images