Nearly singular configuration wide-range parallel six-dimensional force sensor

Abstract

The invention discloses a nearly singular configuration wide-range parallel six-dimensional force sensor, which mainly comprises a force measurement ring, a fixing ring, three same bearing branches and six detection branches attached to foil gauges, wherein the force measurement ring and the fixing ring are coaxially arranged and are connected with each other through the three bearing branches; the six detection branches are arranged by adopting specific nearly singular configuration according to a measurement task; two ends of each of the six detection branches are connected with the force measurement ring and the fixing ring through elastic ball hinges; the six detection branches are spaced from the bearing branches at equal intervals; ring surfaces of the fixing ring and the force measurement rings, which are connected with the branches, can be annular polyhedrons formed by being wrapped by axial perpendicular surfaces of the branches; a thread is formed on the inner surface of the force measurement ring; a through hole is formed in the end face of the fixing ring; and the through hole is connected with the external environment through a bolt or a thread formed on the outer surface of the fixing ring. The nearly singular configuration wide-range parallel six-dimensional force sensor is simple in structure, high in measurement precision, high in rigidity, high in sensitivity and small in size and can be widely applied to various application occasions, such as aerospace, military, robots and automobile six-dimensional wheel force measurement, needing high sensitivity and wide range of sensors.

Description

technical field [0001] The invention relates to a force sensor, in particular to a six-dimensional force sensor with a large-range parallel structure. Background technique [0002] As a knowledge-intensive, technology-intensive, interdisciplinary complex mechatronic device, the performance of the sensor directly affects the quality of the mechatronic system. The force sensor is widely used as a basic type of sensor, among which the six-dimensional force sensor is regarded as the best because it can measure the three-dimensional force component and the three-dimensional moment component in space at the same time, and can be used to measure the force and acceleration with changing direction and size. An important class of force sensors. For the research of the six-dimensional force sensor, in addition to improving the accuracy, it cannot be ignored. Increasing the stiffness, increasing the range, and miniaturization are also gradually becoming the research direction that is c...

AI Technical Summary

Problems solved by technology

Although the fault-tolerant structure improves the measurement reliability, there are still some disadvantages

First of all, due to the constraints between stiffness and sensitivity, the stiffness of the detection branch is very limited, and the sensor stiffness cannot be effectively improved by increasing the detection branch. At the same time, due to the decrease in sensitivity due to the increase in stiffness, the measurement characteristics have declined, that is, it is not very good. Deal with the relationship between the stiffness of the sensor and the measurement sensitivity; secondly, the measurement branch of the parallel sensor needs to have a specific configuration and structure, and the processing is complicated, and the addition of the measurement branch obviously makes its structure more complicated

Therefore, it is very difficult to further obtain a six-dimensional force sensor with a large range, high sensitivity, and small size.

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