A parallel five-dimensional force sensor

Abstract

Provided is a parallel-type five-dimensional force sensor, which mainly comprises a bearing platform, a fixation circular table, a rigid connecting rod A, a rigid connecting rod B, a rigid connecting rod C, a rigid connecting rod D, a transverse cantilever beam A, a transverse cantilever beam B, a transverse cantilever beam C, a transverse cantilever beam D, elastic connecting rods, a longitudinal cantilever beam A, a longitudinal cantilever beam B, a cross beam, a rigid beam A, a rigid beam B, a regular octagon support plate and a strain gauge. Through the arrangement of the vertically-arranged elastic connecting rods and the transversely-arranged cross beam, structural decoupling of the sensor is realized, measurement of the forces in the x, y and z directions and torques around the x and y directions can be realized conveniently; when some branch of the sensor has fault or error, the fault branch can be rejected through detection, diagnosis and identification capability of software, and measurement of force in other directions can be carried out; and through selection of a pre-designed corresponding mathematical measurement model, reconstruction strategy of a model of the sensor can be realized.

Description

technical field [0001] The invention relates to the field of sensor design and manufacture. Background technique [0002] With the rapid development of robot technology, the degree of artificial intelligence of robots is getting higher and higher, and it needs stronger and stronger ability to perceive the world and make automatic decisions, and the perception and feedback of sensors provide the possibility of realizing this ability , in the information obtained by the robot, the high-precision force / torque information obtained by real-time measurement is one of the important conditions for the robot to ensure good working ability. At present, the acquisition of common robot force / torque information mainly relies on multi-dimensional force / torque sensors. [0003] In the research of multi-dimensional force / torque sensors, the structural design of the force-sensing elements has always been a key core issue, which directly affects the important performances of the force sensor,...

AI Technical Summary

Problems solved by technology

[0007] The above types of sensors start from changing the structure or arrangement of the cross beam, or adopt the form of a parallel mechanism. Although the purpose of decoupling can be achieved in the end, the decoupling effect is not ideal, which has a great impact on the accuracy of the measurement results.

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