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

A torque sensor and double cross technology, applied in the sensor field, to achieve the effect of reducing inter-dimensional crosstalk, low inter-dimensional coupling, and reducing inter-dimensional coupling

Active Publication Date: 2014-09-17
SOUTHEAST UNIV
View PDF6 Cites 26 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling
  • Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling
  • Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] The present invention will be further explained below in conjunction with the accompanying drawings.

[0036] A low-dimensional intercoupling double-cross beam type six-dimensional force and moment sensor, including an elastic body structure and six sets of strain gauges. Such as figure 1 As shown, the elastomer structure includes an outer ring wall 1 , an inner ring wall 2 , four outer ring stress beams 3 with the same structure, four inner ring stress beams 4 with the same structure, and a central loading shaft 5 . The geometric center of the outer ring wall 1 is defined as the origin O to define a XYZ three-dimensional Cartesian coordinate system, and the central cross-sections of the outer ring wall 1, the inner ring wall 2, the outer ring stress beam 3, and the inner ring stress beam 4 are all located on the XOY plane Above, except for the central loading axis 5, the elastomeric structure is symmetrical about the XY coordinate plane. The central axis of the centr...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16G01L3/00
Inventor 宋爱国陈丹凤李昂李会军宋光明
Owner SOUTHEAST UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap