Six dimensional RSS force sensor

A force sensor and parallel technology, applied in the field of automatic control, can solve the problems of difficult design and processing of elastic moving pairs and large principle errors, and achieve the effects of convenient design, small coupling between dimensions, and simple synthesis and decomposition algorithms.

Inactive Publication Date: 2007-09-12
YANSHAN UNIV
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Problems solved by technology

[0003] In order to overcome the deficiencies in the design and manufacture of the existing six-dimensional force sensor, the present invention provides a six-dimensional parallel structure RSS force sensor, which uses a rotating elastic pair to replace the deformed part of the existing parallel structure force sensor, thereby simplifying the structure and solving the problem. The design and processing of the elastic moving pair is difficult and the principle error is large. The structure of the elastic rotating pair is simple, and the design, manufacture and installation accuracy are easy to guarantee.

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Embodiment Construction

[0011] Fig. 1 is an embodiment disclosed by the present invention. The force application platform 1 and the fixed platform 4 are connected by 3 groups of branch chains, and each group of branch chains is composed of a left side branch chain 2 and a right side branch chain 3. Branches (2, 3) have the same structure but different poses. Each branch chain is made up of upper connecting rod 2-1, elastic ball pair 2-2, branch chain main rod 2-3, rotating auxiliary rod 2-4, elastic rotating pair 2-5 and lower connecting rod 2-7. The two ends of the chain main rod 2-3 are elastic ball pairs 2-2, and the elastic ball pairs 2-2 are rigidly connected with the upper connecting rod 2-1 and the rotating auxiliary rod 2-4 respectively, and the rotating auxiliary rod 2-4 is connected with the lower The rod 2-7 is rigidly connected, and the upper connecting rod 2-1 and the lower connecting rod 2-7 are respectively connected with the force application platform 1 and the fixed platform 4 by int...

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Abstract

This invention relates to a kind of 6-dimensional parallel connection structure RSS force transducer, character is: energizing platform ( 1) and fixed platform ( 4) join by three group uniformly distributed branched chain; each group branched chain composed by Left Side branched chain (2) and right side branched chain (3); branched chain submit circle symmetry disposal on fixed platform (4); each branched chain has two elasticity sphere deputy (2-2) and a elasticity turning deputy(2-5); on turning deputy perch (2-4) has elasticity turning deputy (2-5) that cross section is rectangular, and its surface stuck strain gauge (2-6). If energizing platform(1) has force or force moment acting, six elasticity turning deputy will generate corresponding strain, through circumscribed four limb differential bridge to gain corresponding six output signal.

Description

technical field [0001] The invention relates to a six-dimensional force sensor for measuring three-dimensional force and three-dimensional moment in space, belonging to the technical field of automatic control. Background technique [0002] Multi-dimensional force sensor has always been a high-tech product developed in the field of control technology in the world. The technical core of the multi-dimensional sensor is the structural design and manufacture of the elastic body. The existing six-dimensional force sensor elastic body has a cross beam and a Stewart platform structure (6-SPS). The former has strict requirements on the position of the patch, and the coupling between dimensions is large; the latter has a Stewart platform structure, and the strain gauge is attached to the rod or the elastic moving pair. The sensitivity attached to the rod is relatively low; the one attached to the elastic moving pair has a large principle error due to the low lateral stiffness of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/20
Inventor 李金良
Owner YANSHAN UNIV
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