Multidimensional force/torque sensor

Abstract

The invention relates to a multidimensional force / torque sensor, which comprises a hollow framework, a loading platform, a plurality of laminar first elastic beams, a plurality of laminar second elastic beams, a force transferring block and a strain gage group, wherein the loading platform is suspended in the framework, the two ends of each second elastic beam are connected with the framework, thesecond elastic beams and the corresponding first elastic beams are connected at a preset angle, the corresponding first elastic beam is divided into two mutual perpendicular parts in width directionby the force transferring block, two sides of the force transferring block are respectively connected the two parts of the first elastic beam correspondingly, and the distances of the force transferring block away from the center of the first elastic beams are different. The thickness of the first elastic beams is thinned, thus reducing the influence on other beams; the first elastic beams are divided into two parts through the force transferring block, so that the elastic deformation of the first elastic beams can be effectively generated on any one of the two parts, and the detection dimension can be increased while the multi-component coupling is reduced. The distances of the force transferring block away from the center of the first elastic beams are different, so that the pasting positions and quantity of strain gages can be increased, and the detection dimension can be increased.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a multi-dimensional force / torque sensor. Background technique [0002] As an important sensor for intelligent robots to perceive omnidirectional force information in external space, multi-dimensional force / torque sensors are receiving extensive attention. Because the cross-beam multi-dimensional force / torque sensor has a simple structure and is easy to process, and the cross-beam multi-dimensional force / torque sensor has a symmetrical structure and is easy to reverse the functional characteristics of the cross-beam multi-dimensional force / torque sensor. dominant in the category. The inter-dimensional coupling is an important factor that limits the accuracy of the cross-beam multi-dimensional force / torque sensor. The inter-dimensional coupling means that the force / torque acting on one dimension of the sensor will affect the output of other dimensions, resulting in zero input in a...

AI Technical Summary

Problems solved by technology

At present, the method to reduce the unidirectional stiffness of the cross-beam multi-dimensional force / moment sensor is: design the elastic beam of the cross-beam multi-dimensional force / moment sensor as a thin sheet structure, and reduce the cross-beam stiffness without affecting the elastic body surface. Stiffness, but reduces the detection dimension of the sensor

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