Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling

Abstract

The invention discloses a double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling. The sensor comprises an outer circular ring wall, an inner circular ring wall, outer-ring stress beams, inner-ring stress beams and a center loading shaft. On the basis of the strain principle of the interior of an elastomer, the outer circular ring wall is fixed, so that force in the x direction, force in the y direction, force in the z direction, torque in the x direction, torque in the y direction and torque in the z direction are measured in a three-dimensional space. Four sets of strain pieces are pasted on the inner-ring stress beams and sense the force in the x direction, the force in the y direction, the force in the z direction and the torque in the z direction respectively in the three-dimensional space. Two sets of strain pieces are pasted on the outer-ring stress beams and sense the torque in the x direction and the torque in the y direction respectively in the three-dimensional space. The double cross beam type six-dimensional force and torque sensor has the outstanding advantages of structural decoupling and small dimensional coupling, thereby being applicable to various occasions and especially applicable to the field of engineering application, based on complex systems, such as intelligent 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 low-dimensional inter-coupling double cross beam type six-dimensional force and moment sensor. Background technique [0002] Robot technology is one of the cutting-edge technologies of modern science and technology. It has derived many branches such as intelligent robots, special operation robots, industrial robots, remote operation robots, and rehabilitation physiotherapy robots. For all branches, force sensors are robot perception systems. one of the most important. Especially in some extreme environments such as spaceflight, deep-sea operations, disaster prevention and other dangerous occasions, and special occasions such as flexible assembly, multi-fingered dexterous hands, and robot teleoperation, force sensors are the most critical sensors used in robots. [0003] In order to accurately obtain force sense information in spac...

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Problems solved by technology

[0006] Purpose of the invention: In view of the serious problem of inter-dimensional coupling in the multi-dimensional measurement of force sensors at home and abroad, a new sensor structure with low-dimensional coupling is proposed to realize decoupling from the structure, reduce and simplify the decoupling algorithm, reduce small measurement error

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