Dual-ring type six-dimensional force sensor

Abstract

The invention relates to the technical field of sensors, and discloses a dual-ring type six-dimensional force sensor. The sensor is characterized in that beams are circumferentially and uniformly distributed; a circumferential support and a central table are arranged between every two adjacent beams; each circumferential support is fixedly connected with outer beams of the beams on the two sides of the circumferential support; each central table is fixedly connected with inner beams of the beams on the two sides of the central table; inner beam through holes are formed in each inner beam and penetrate the upper surface and the lower surface of the inner beam; vertical radial beam through holes are formed in each radial beam and penetrate the upper surface and the lower surface of the radial beam, or horizontal radial beam through holes are formed in each radial beam and penetrate the two side surfaces of the radial beam; and resistance strain gauges are arranged on the two sides of each inner beam through hole, each vertical radial beam through hole and each horizontal radial beam through hole. The dual-ring type six-dimensional force sensor disclosed by the invention has the advantages that the strain gauges are adhered to strain centralization positions of the radial beams and the inner flexible beams of a dual-ring type six-dimensional force elastic body, so that the resolution and the inherent frequency are higher than those of the conventional crossbeam deformation rib structure, six-dimensional force measurement can be achieved through Wheatstone full-bridge circuitsaccording to the force sensor principle, and mutual interferences among inter-dimension forces can be effectively avoided.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a force sensor for measuring force. 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. Huang Xinhan The HUST FS6 multi-dimensional force sensor researched by the professor, the two-level parallel structure type six-dimensional force sensor designed by Dr. R. Seitner in Germany, etc. A lot of research has been done on multi-dimensional force sensors ...

AI Technical Summary

Problems solved by technology

With regard to the structural form of the elastic body of the existing multi-dimensional force sensor, it is difficult to further improve the stiffness and sensitivity of the sensor at the same time

In addition, some existing multidimensional force sensors have elastic bodies that suffer from decoupling problems

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