Six-dimensional force sensor

Abstract

The invention discloses a six-dimensional force sensor. An inner ring and outer ring support structure is formed by a centre platform as the inner ring and a circumferential support as the outer ring;the inner end of a radial beam is connected to the middle part of a floating beam, so that a T-shaped beam structure is formed; radial beams in four sets of T-shaped beams are distributed in a crossed manner on the periphery of the centre platform; outer ends of various radial beams are connected onto the circumferential support; and adjacent two sections of floating beams are connected, so thatthe annular centre platform is formed. According to the six-dimensional force sensor in the invention, various through holes and strain sheets are arranged on the radial beams and the floating beams;structure decoupling is realized; a Wheatstone full-bridge circuit is used, so that six-dimensional force measurement can be realized; and furthermore, mutual interference of inter-dimensional force can be effectively avoided.

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...

AI Technical Summary

Problems solved by technology

However, the elastic beam of the existing six-dimensional force sensor is a solid beam structure, which leads to problems such as low sensor sensitivity, large inter-dimensional coupling, and low precision; when this kind of elastic body is stressed, the strain generated on each elastic beam is approximately Linear distribution, so that the strain cannot be concentrated at the position where the strain gauge is pasted

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