Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm

Abstract

The invention discloses a six-dimensional force and torque sensor for measuring large force and small torque of a large mechanical arm. The six-dimensional force and torque sensor comprises a center shaft, a force sensitive element, a base and a strain gage component, wherein the force sensitive element is fixedly connected to the base; the center shaft penetrates through the force sensitive element and the base; the center shaft is in interference fit with the force sensitive element; the strain gage component is attached to the force sensitive element; the force sensitive element comprises four elastic main beams, four elastic auxiliary beams, a regularly octagonal center shaft platform, four fixing platforms, four main floating beams and four auxiliary floating beams; the strain gage component comprises a first strain gage group and a second strain gage group; two opposite elastic main beams in the four elastic main beams are respectively coated with the first strain gage group, and the other two elastic main beams are respectively coated with the second strain gage group; and the center shaft is in interference fit with a through hole of the center shaft platform. The six-dimensional force and torque sensor can improve the rigidity of measuring the force, and can also slightly improve the rigidity of measuring torque.

Description

technical field [0001] The invention relates to a six-dimensional force and moment sensor, in particular to a six-dimensional force and moment sensor for measuring large force and small moment of a large mechanical arm. Background technique [0002] Multi-dimensional force and torque sensors are a very important type of mechanical quantity measurement sensors in electromechanical control systems. They are the basic components to ensure precise assembly, precise operation, precise control and human-computer interaction control, and are also the guarantee for robots to complete contact tasks. With the rapid development of my country's space detection technology, ocean development technology and robot technology, such as space station docking, space manipulator control, industrial robot, underwater robot remote operation, etc., it is urgent to develop large-scale high-precision multi-dimensional force and torque sensor. Existing robot force and torque sensors are mainly divided...

AI Technical Summary

Problems solved by technology

In practical applications, it is often hoped that the sensor has as high a resolution as possible and a larger range (stiffness) under certain size conditions. Reduce its resolution to a certain extent; Conversely, increasing the resolution tends to reduce the stiffness of the sensor, thereby reducing the range

With the development of robot systems such as industrial robots and teleoperated robots, especially the development of large-scale space robots with large manipulators, the performance of force and torque sensors often requires the measurement of larger forces and smaller moments. This results in an asymmetrical requirement for the measuring range of the sensor, which cannot be easily met by the six-dimensional force and moment sensor with the original cross beam structure.

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