Self-adaptive two-dimension force feedback wrist connector and sensor for lightweight mechanical arm

Abstract

The invention relates to a self-adaptive two-dimension force feedback wrist connector and sensor for a lightweight mechanical arm. The connector is composed of a movable plate, a fixed plate, a middleframe, a first leaf spring assembly and a second leaf spring assembly; the fixed plate is connected with the mechanical arm; the movable plate is connected with a tail-end actuator and can move alongwith deformation of the two leaf spring assemblies; and leaf springs are used for sensing stress in two directions, so that when the mechanical arm has a certain position allowance when actuating theassembly operation, the requirement for precision of the mechanical arm can be reduced, meanwhile, the mechanical arm can be prevented from being damaged by an assembled object, and the assembly reliability is improved. The self-adaptive two-dimension force feedback wrist connector for the mechanical arm can effectively improve the force feedback precision and improve the allowance of assembly operation of the mechanical arm and is expected to become a standard configuration for the lightweight mechanical arm.

Description

technical field [0001] The invention relates to a light-duty mechanical arm adaptive two-dimensional force feedback wrist connector and a sensor, belonging to the field of robot force sensing. Background technique [0002] The traditional industrial manipulator adopts the position control mode, which cannot sense the force on the end. The force-controlled manipulator uses current sensing, but the precision is not high, and it is impossible to effectively measure the tiny force of fine operation. The force sensor currently on the market is difficult to integrate. into the end of the manipulator, limiting the application of the force sensor on the manipulator. [0003] Existing force sensors mainly use spoke-wheel-type sensitive elements. This type of sensor has the advantages of simple structure and high precision. However, due to the complex coupling state of the force in each direction of the end effector on the sensitive element, it makes the sensor in various end postures...

AI Technical Summary

Problems solved by technology

[0002] The traditional industrial manipulator adopts the position control mode, which cannot sense the force on the end. The force-controlled manipulator uses current sensing, but the precision is not high, and it is impossible to effectively measure the tiny force of fine operation. The force sensor currently on the market is difficult to integrate. into the end of the manipulator, limiting the application of force sensors on the manipulator

[0003] Existing force sensors mainly use spoke-wheel-type sensitive elements. This type of sensor has the advantages of simple structure and high precision. However, due to the complex coupling state of the force in each direction of the end effector on the sensitive element, it makes the sensor in various end postures and forces Under the force state, the force calculation process is too complicated; in addition, the sensitive element of this sensor is a structural support, and the elastic deformation cannot be limited, and the elastic element must be designed relatively strong, resulting in insufficient measurement sensitivity

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