Six-dimensional force-torque sensor for realizing extension of measuring range

Abstract

The invention discloses a six-dimensional force-torque sensor for realizing the extension of a measuring range. The six-dimensional force-torque sensor comprises a resilient body and straining plates which are arranged on the resilient body; the resilient body comprises four fixed platform, a central loading platform and four beam units, and each beam unit is arranged between two adjacent fixed platforms; each beam unit comprises an outer floating beam, an inner floating beam and a resilient beam, the outer floating beam is parallel to the inner floating beam, the outer floating beam and the inner floating beam form a pair of double-beam, two ends of the double-beam are respectively fixedly connected onto the side walls of the two fixed platforms, the resilient beam is vertical to the double-beam, one end of the resilient beam is fixedly connected onto the inner wall of the outer floating beam, and the other end of the resilient beam is fixedly connected onto one side wall of the central loading platform; the straining plates are divided into six groups and adhered onto the resilient beam; each group of straining plates form a Wheatstone bridge. By adopting the six-dimensional force-torque sensor, under the condition that the peripheral size of the sensor is not changed, the measuring range is effectively increased, and the rigidness of the sensor is improved.

Description

technical field [0001] The invention relates to a six-dimensional force and torque sensor, in particular to a six-dimensional force and torque sensor for realizing range expansion. Background technique [0002] The six-dimensional force sensor can simultaneously detect loads in six directions in space, that is, the force information (Fx, Fy, Fz) of the three coordinate axes in the spatial Cartesian coordinate system and the torque information (Mx, My, Mz) around the three axes. ). As an important force sensor, it is the basic component to ensure precise assembly and control, and it is also the guarantee for robots to complete contact tasks, so it is widely used in industrial robots, humanoid robots, automatic control, aerospace, underwater robots, etc. field. [0003] Strain force / torque sensors have always been a research hotspot in the field of force perception because of their good accuracy and sensitivity. Patent CN102353482A "A Moment Sensor Capable of Measuring Six-...

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Problems solved by technology

Appropriately increasing the thickness of the floating beam is also a way to improve the stiffness. A significant limitation of this method is that the floating beam can only be thickened within a small range. If it exceeds a certain range, the strain on the sensor will be extremely small, and the force cannot be measured at all. and moment

Similarly, the method of thickening the elastic beam also has the problem that the sensitivity will be reduced, and exceeding a certain range will cause the sensor to lose the ability to sense space force / moment

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