Five-dimensional force sensor structure based on double-layer planar spring

Abstract

The invention discloses a five-dimensional force sensor structure based on a double-layer planar spring, the structure comprises two layers of parallel planar spring structures, each layer is formed by a central end, three groups or more elastic beam structures and a peripheral end, one ends of the beam structures are fixedly connected with the central end, and the other ends are fixedly connected with the peripheral end. Two layers of planar springs are fixedly connected through the peripheral end and are separated by a certain distance. Each doubly-layer structure comprises two central ends, one of the central ends are fixedly connected with a force input end, and the other one is a fixed end. In the double-layer planar spring, a text system is formed by five sets of optical fiber distance sensors or strain gauges and corresponding five sets of elastic beam structures, and the text system is used for measuring elastic beam structural deformation, so that three-dimensional force and two-dimensional force couple of the central end fixedly connected with the input end are measured. The sensor structure can realize the measurement of force and two-dimensional force couple in any direction through the double-layer planar spring, and the spring can be used for a robot finger, a continuous body and force sensors of service robots such as a flexible robot, a medical robot and the like.

Description

technical field [0001] The invention relates to a five-dimensional force sensor structure based on a composite beam structure, and provides a compact structure design for measuring three-dimensional force and two-dimensional force couple, which can be used for robot finger touch and fingertip force, exoskeleton robot joint force, continuum or The field of service robot force sensing such as the force of the flexible robot itself and the external force, the interaction force of the medical surgical robot, etc. Background technique [0002] Since it was proposed in the 1980s, optical fiber distance sensors have been widely studied and gradually applied due to their advantages such as strong resistance to electromagnetic signal interference, strong stability, large linear range, and simple structure. The basic principle of the optical fiber distance sensor is to measure the orientation of the surface where the reflection occurs by receiving the reflected light beam and detectin...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the technical defect that the existing elastic beam structure optical fiber force sensor cannot detect force in any direction, provide a kind of optical fiber force sensor elastic beam structure design based on double planar springs, ensure the compact structure of this type of sensor, and at the same time Realize the detection of two-dimensional force couple and force in any direction

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