An embedded stepped sensing device and its method for measuring six-dimensional force

Abstract

The invention provides an embedded stepped sensing device and its method for measuring six-dimensional force, comprising: an upper flange, a shell, a base, a lower flange, and an induction unit; the induction unit includes an upper ladder rigid beam and a lower ladder rigid beam , the upper pre-compression plate, the right pre-compression plate, the sleeve and a total of 32 magnetorheological elastomers distributed on the upper ladder rigid beam and the lower ladder rigid beam; the upper ladder rigid beam and the lower ladder rigid beam cooperate with each other in the form of steps; 32 magnetorheological elastomers form six sets of half-bridge double-arm bridge circuits through wires, and the sensing unit converts the pressure signal of the opposite surface into an electrical signal through magnetorheological elastomers; the six sets of half-bridge double-arm bridge circuits are independently output The six electrical signals correspond to the force / torque in six directions of the six-dimensional force; through the above scheme, an innovative embedded stepped sleeve structure is proposed, which effectively reduces the difficulty of preloading, improves the accuracy of preloading, and increases the sensor's overall stability. Reliability and measurement accuracy for structural decoupling.

Description

technical field [0001] The invention relates to the technical field of sensing devices, in particular to an embedded stepped sensing device and a method for measuring six-dimensional force. Background technique [0002] The reliability of the existing six-dimensional force sensor itself and the reliability of the sensing unit are low, and the overall life is reduced; the simple sleeve preloading device is not easy to perform preloading operation, resulting in cumbersome operation; generally, the existing six-dimensional When the force sensor converts the resistance signal into a voltage signal through the bridge, the generated electrical signal is weak and needs to be amplified by an amplifier circuit, but the electrical signal will be distorted after being amplified; and there is a certain coupling between each force / torque, which affects the transmission. sense of precision. [0003] On the whole, the existing six-dimensional force sensing devices are unsatisfactory in te...

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Problems solved by technology

[0004] The purpose of the present invention is to propose a built-in stepped sensing device and its method for measuring six-dimensional force, aiming to solve the problems of the six-dimensional force sensing device in the prior art in terms of preloading methods and signal transmission. Satisfactory, ultimately affecting the sensing accuracy of the six-dimensional force sensing device

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