Decoupling method of six-dimensional force sensor and six-dimensional force sensor

Abstract

The invention provides a decoupling method of a six-dimensional force sensor. The method comprises the following steps: S1, taking n groups of linearly independently force / torque column vector Fx, Fy,Fz, Mx, My and Mz as inputs of the six-dimensional force sensor; S2, acquiring the stress of the unified specified coordinate point of all 16 faces or specified 12 faces of various beams of the six-dimensional force sensor as the output; S3, performing decoupling by using the least square method or extreme learning machine and like decoupling method, thereby determining the relations between eachof the Fx, Fy, Fz, Mx, My and Mz and the stress on the corresponding beam thereof, thereby solving a calibration matrix C or the corresponding relation of the input and output. The invention furtherprovides a six-dimensional force sensor based on Wheatstone quarter electric bridge. The decoupling method provided by the invention can be in favor of reducing the inter-dimension coupling, improve the decoupling effect in the composite loading of the six-dimensional force sensor, and has the advantages of being small in error and wide in application range.

Description

technical field [0001] The invention relates to the technical field of six-dimensional force sensors, in particular to a decoupling method for six-dimensional force sensors and the six-dimensional force sensor. Background technique [0002] With the development of robotics and Internet of Things technology and the implementation of Industry 4.0, sensors, as the basis for sensing signals, have received more and more attention and development. [0003] The six-dimensional force sensor can sense three axial forces (Fx, Fy, Fz) and three axial moments (Mx, My, Mz). Since the 1970s, multi-dimensional force sensors for robots have become a hot research topic at home and abroad. question. It has important theoretical and practical significance for its development and application. [0004] Multi-dimensional force sensors are sensitive to force in all directions, and applying force in one dimension of the sensor will have output in other directions, which is called coupling error. ...

AI Technical Summary

Problems solved by technology

There is a relatively complex coupling relationship between the output channels of the six-dimensional force sensor

[0013] In order to construct a Wheatstone full-bridge circuit, the idea of ​​this scheme is based on making the small stress approximately zero, and the scope of application is narrow, limited to the cross-beam six-dimensional force sensor with floating beam structure, and in addition This method also has higher requirements on the shape and position errors of the sensor, such as dimensional tolerance and symmetry.

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