Double crossed beam combination type finger joint six-dimensional force sensor

Abstract

The invention discloses a double crossed beam combination type finger joint six-dimensional force sensor. The double crossed beam combination type finger joint six-dimensional force sensor is formed by combining an upper elastic crossed beam body and a lower elastic crossed beam body. The upper elastic crossed beam body comprises four upper elastic beams, an upper center loading shaft, four upper fixing tables and four upper floating beams. The lower elastic crossed beam body comprises four lower elastic beams, a lower center loading shaft, a fixing frame and four lower fixing tables. The upper elastic crossed beam body and the lower elastic crossed beam body are fixed through the four upper fixing tables and the four lower fixing tables corresponding to the four upper fixing tables in a one-to-one mode, and form a double crossed beam structure. Compared with an existing multi-dimension force sensor, the double crossed beam combination type finger joint six-dimensional force sensor is higher in sensitivity and is suitable for multi-dimension force measurement in the field of finger joints of robots.

Description

technical field [0001] The invention belongs to the technical field of sensors, and relates to a six-dimensional force sensor, in particular to a double-cross beam combined finger joint six-dimensional force sensor. Background technique [0002] The six-dimensional force sensor measures the six force or moment components (Fx, Fy, Fz, Mx, My, Mz) of the Cartesian coordinate six-dimensional space. Because it can simultaneously perceive the multi-dimensional force and moment information in space, it can more comprehensively reflect the Spatial force information is therefore very suitable for use in robotics as a sensing element. The perception system of an intelligent robot is the basis and premise for the robot to perform operations, and the multi-dimensional force sensor is the most important sensor in the perception system. Since its appearance in the 1970s, multi-dimensional force sensors were first applied in the field of intelligent robots. With the development of robot ...

AI Technical Summary

Problems solved by technology

However, the sensor requires a relatively large signal conditioning circuit and digital acquisition system, and these modules greatly limit its application in highly integrated intelligent robots.

There are also many types of miniature multi-dimensional force sensors being developed, but most of them have complex structures, use micro-machining technology (MEMS), and require customization of integrated strain gauges, so this solution is very costly

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