A combined four-dimensional force and torque sensor based on structural decoupling

Abstract

The present invention discloses a combined four-dimensional force and torque sensor based on structural decoupling. The combined four-dimensional force and torque sensor comprises a floating force guide module, first one-dimensional force sensor modules, second one-dimensional force sensor modules, third one-dimensional force sensor modules and a base module. A first one-dimensional force sensor module and a third one-dimensional force sensor module are combined to be one group and are installed at the front side of the base module, another group of the first one-dimensional force sensor module and the third one-dimensional force sensor module is combined and installed at the left side of the base module. A second one-dimensional force sensor module and a third one-dimensional force sensor module are combined to be one group and are installed at the back side of the base module, another group of the second one-dimensional force sensor module and the third one-dimensional force sensor module is combined and installed at the right side of the base module. The floating force guide module is suspended and fixed at the middle part of the base module through four groups of one-dimensional force sensor modules. The combined four-dimensional force and torque sensor has the advantages of convenient installation, a simple structure, a small volume, a more accurate measurement, the realization of no-coupling output, and a low calibration requirement.

Description

technical field [0001] The invention relates to a four-dimensional force sensor, in particular to a combined four-dimensional force and torque sensor based on structure decoupling, which belongs to the technical field of sensors. Background technique [0002] Multi-dimensional force and torque sensors play a very important role in the field of robotics. With the widespread application of industrial robots and teleoperation robots, a large number of robot sensors will be needed, and robot force and moment sensors are the guarantee for robots to complete contact tasks, and also for teleoperation robots to complete remote tasks. The teleoperated robot needs to detect the contact force between the manipulator and the environment through the force and torque sensor, and then act on the operator's hand as feedback, so that the operator can have an "immersive" force sense effect, so as to realize the sense of control of the robot. control. [0003] The existing robot force and to...

AI Technical Summary

Problems solved by technology

At present, dedicated four-dimensional force and torque sensors are rare. Generally, the existing six-dimensional force and torque sensors are used, and the four-dimensional force and torque sensors are selected to realize the measurement of four-dimensional force and torque. This not only causes waste of hardware resources, but also Moreover, it cannot overcome the influence of the inherent interdimensional coupling of the six-dimensional force and torque sensor.

Of course, there are also a small number of direct output four-dimensional force and torque sensors, but there are also shortcomings such as the number of patches and bridge circuits, and large volume.

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