Six-dimensional force sensor with elastomer structure

Abstract

The invention discloses a six-dimensional force sensor with an elastomer structure. The six-dimensional force sensor comprises a horizontal elastic beam, a center vertical elastic beam, a loading shaft and an outer ring fixing stand, wherein the horizontal elastic beam is of a cross-shaped structure, and comprises four equal-length branches; one end of the center vertical elastic beam is fixed to the central position of the cross-shaped structure of the horizontal elastic beam, and is perpendicular to the surface on which the cross-shaped structure is positioned; the loading shaft is installed at the other end of the center vertical elastic beam; the outer ring fixing stand is a circular ring-shaped component sleeving the horizontal elastic beam, tails ends of the four branches of the horizontal elastic beam are fixed to the inner side surface of the outer ring fixing stand, and the tails ends of the four branches of the horizontal elastic beam are of an S-shaped structure; and the horizontal elastic beam and / or the center vertical elastic beam are / is further adhered with a strain gauge. According to the six-dimensional force sensor, the tails ends of the four branches of the horizontal elastic beam are of the S-shaped structure, thus the horizontal elastic beam serves as a flexible link when being subjected to an acting force in the corresponding direction; and the design of the center vertical elastic beam reduces the inter-dimensional coupling, thereby simplifying a decoupling algorithm and improving the measurement precision.

Description

technical field [0001] The invention belongs to the technical field of sensors, in particular to a six-dimensional force sensor with an elastic body structure. Background technique [0002] The six-dimensional force sensor measures the three-dimensional orthogonal force (Fx, Fy, Fz) and three-dimensional orthogonal moment (Mx, My, Mz) in the three-dimensional space of the Cartesian coordinate system. Due to its rich force measurement information and high measurement accuracy, It is mainly used in force and force-position control occasions, such as robot end effectors, wheel force detection during vehicle driving, contour tracking, precision assembly, hand coordination, etc., especially in aerospace robots, space station docking simulations, etc. It plays an extremely important role effect. [0003] The cross-beam structure is the most widely used form of the six-dimensional force sensor at present, and the principle of resistance strain force measurement is the most widely ...

AI Technical Summary

Problems solved by technology

However, the unique inter-dimensional coupling of multi-dimensional force / torque sensors has become the main problem of multi-dimensional force / torque sensors, which restricts the measurement accuracy and directly affects the subsequent force feedback and force control performance.

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