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Six-dimensional force sensor

A six-dimensional force sensor and center platform technology, applied in the field of sensors, can solve the problems of multi-dimensional force sensor stiffness and sensitivity that need to be further studied

Active Publication Date: 2017-05-10
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

A lot of research has been done on multi-dimensional force sensors at home and abroad. There are many kinds of multi-dimensional force sensors designed, each with different advantages and disadvantages and application occasions. further research

Method used

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Embodiment Construction

[0049] see figure 1 , figure 2 and image 3 , the six-dimensional force sensor in this embodiment has a circumferential support 1, a center platform 2 and a radial beam 3;

[0050] The radial beams 3 are evenly distributed around the center platform 2, one end of the radial beam 3 is connected to the outer wall of the center platform 2 in a "T" shape, and the other end of the radial beam 3 is connected to the inner wall of the circumferential support 1 in a "T" shape. T" type connection, beam through holes are provided on the radial beam 3, so that the stress is concentrated on both sides of the beam through holes.

[0051] figure 1 There are four radial beams 3 shown, and the four radial beams 3 are centered on the center of the center platform 1, and are distributed in the shape of a "ten"; the center platform 2 and each radial beam 3 are in a horizontal state; the center platform 1 The center point of is the coordinate origin to establish a three-dimensional coordinate...

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Abstract

The invention discloses a six-dimensional force sensor. The six-dimensional force sensor is characterized by comprising a circumferential support, a center platform and radial beams, wherein the radial beams are uniformly distributed on the periphery of the center platform; one end of each radial beam and the outer side wall of the center platform are in T-shaped connection, and the other end of each radial beam and the inner side wall of the circumferential support are in T-shaped connection; and beam through holes are formed in the radial beams, so that the stress is concentrated at two sides of the beam through holes. The six-dimensional force sensor is used for achieving decoupling of the six-dimensional force sensor in structure, the sensitivity of the sensor can be improved, and the rigidity of the sensor is ensured.

Description

technical field [0001] The invention belongs to the technical field of sensors, in particular to a sensor that can be used to measure six-dimensional force in space. Background technique [0002] The multi-dimensional force sensor is an important source of information for the robot to obtain the force between the robot and the environment. At present, there have been many researches on multi-dimensional force sensors, such as the Watton multi-dimensional force sensor developed by the DraPer Institute in the United States, the SAFMS multi-dimensional force sensor jointly developed by the Hefei Institute of Intelligence of the Chinese Academy of Sciences and Southeast University, and the multi-dimensional force sensor based on the Stewart platform. Professor Huang Xinhan The researched HUST FS6 multi-dimensional force sensor, the two-level parallel structure type six-dimensional force sensor designed by Dr. R. Seitner Company in Germany, etc. A lot of research has been done o...

Claims

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Application Information

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IPC IPC(8): G01L5/16
CPCG01L5/161
Inventor 王勇王淮阳胡珊珊陈恩伟刘正士
Owner HEFEI UNIV OF TECH
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