A sensing device for a mechanical arm, a mechanical arm assembly and application thereof

Abstract

The invention relates to a sensing device for a mechanical arm, a mechanical arm assembly and an application. The device comprises a first connecting plate which can be connected with a clamping mechanism, and a second connecting plate which can be connected to the mechanical arm, wherein the first connecting plate is connected to one ends of at least four first flexible hinges; the other ends ofthe first flexible hinges are connected to one end of a connecting body; the other end of the connecting body is connected to one ends of at least four second flexible hinges; the other ends of the second flexible hinges are connected to a second connecting plate; the first flexible hinges and the second flexible hinges are disposed in a staggered manner; fiber gratings are disposed on the first flexible hinges and the second flexible hinges; and the fiber gratings are connected to a spectrograph. Through use of the sensing device provided by the invention, measurement results are more accurate, and applicability is higher.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a sensing device for a mechanical arm, a mechanical arm assembly and applications. Background technique [0002] The robotic arm has unique operational flexibility, so it has a wide range of applications in industrial production and special work in harsh environments. Force and torque are important parameters that need to be sensed by the gripping structure at the end of the robotic arm, which is related to whether the robotic arm can output an appropriate force to grip the target object. [0003] The inventor found that most of the existing six-dimensional force sensors on the manipulator adopt six-channel acquisition, the decoupling calculation accuracy of the force and torque components in three directions is not high, and most of them use electrical strain gauges such as resistive or capacitive The source is solved by the change of the voltage signal, but the electri...

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Problems solved by technology

[0003] The inventor found that most of the existing six-dimensional force sensors on the manipulator adopt six-channel acquisition, the decoupling calculation accuracy of the force and torque components in three directions is not high, and most of them use electrical strain gauges such as resistive or capacitive The source is solved by the change of the voltage signal, but the electrical signal is difficult to resist interference in harsh and special environments

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