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Frame type decoupling six component sensor and use method

A six-component sensor and frame-type technology, which is applied in the direction of instruments, measuring force, and measuring devices, can solve the problems of complex structure, low sensitivity, and small rigidity of the sensor, and achieve the effects of cost reduction, good symmetry, and simple structure

Inactive Publication Date: 2008-07-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The above sensors have more or less disadvantages such as complex structure, large interference, low sensitivity, and low stiffness, and there is a general contradiction between stiffness and sensitivity that is difficult to balance

Method used

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  • Frame type decoupling six component sensor and use method

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Embodiment Construction

[0024] The present invention will be described in further detail below in conjunction with accompanying drawing

[0025] Fig. 1 is the overall structure schematic diagram of the present invention, and this sensor is provided with the longitudinal beam 2,3,6,8 of uniaxial flexible hinge by floating platform 10, fixed platform 5, four, and four transverse beams 1,4,7 , 9, wherein the longitudinal beams 2, 6 and the transverse beams 1, 9 on the floating platform 10 form a pair of T-shaped beams, and the longitudinal beams 3, 8 and the transverse beams 4, 7 on the fixed platform 5 form a pair of inverted T-shaped beams. Beams, T-beams and inverted T-beams connect the floating platform 10 and the fixed platform 5 as a whole.

[0026] During the operation of the sensor, when subjected to an X-component external force, the longitudinal beams 2 and 6 are much stiffer than the longitudinal beams 3 and 8, and when subjected to a Y-component external force, the longitudinal beams 3 and 8...

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Abstract

The invention relates to a frame-type decoupling six-component sensor and an application method thereof, which belong to the field of industrial robots. The sensor comprises a fixed platform and a floating platform, wherein, cross beams are respectively arranged on the left and the right ends of the floating platform and are respectively connected with the fixed platform through a longitudinal beam to form a T-shaped beam; and cross beams are respectively arranged on the front and the back sides of the fixed platform and are respectively connected with the floating platform through a longitudinal beam to form an reversed T-shaped beam. The invention can achieve measurement and decoupling of spatial six-component forces, and has the advantages of simple structure, small size, high rigidity, high sensitivity, high accuracy, etc. The invention can be used in the field of robot wrist force sensors, wind tunnel balances, etc.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a six-component sensor. Background technique [0002] Since the 1970s, as the six-dimensional force sensor for robot joints has become a hot topic of research by scholars at home and abroad, strain-type six-dimensional force sensors with various structures have been invented, which has continuously promoted the development of force sensors. It is widely used in wind tunnel force measurement, mining industry and other fields. So far, domestic and foreign scholars have proposed a variety of structural forms of the six-dimensional force sensor structure, such as the overall six-dimensional force sensor proposed by the Americans with three vertical ribs as deformation elements, the cylindrical six-dimensional force sensor designed by the Stanford Research Institute, Germany designed a double-circle six-dimensional force sensor, and Belgium and Israel simultaneously developed a four-...

Claims

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Application Information

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IPC IPC(8): G01L1/20
Inventor 姚裕吕长魁吴洪涛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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