Constraint parallel type three-dimensional force/torque sensor

Abstract

A constraint parallel type three-dimensional force / torque sensor comprises a lower disc-shaped fixed platform and an upper annular force loading platform, the middle of the force loading platform is connected with a disc-shaped radial plate, and a coaxial middle stand column is connected between the center of the radial plate and the center of the fixed platform. At least N force measuring branch chains are connected between the upper surface of the fixed platform and the lower surface of the force loading platform, the radial plate serves as a constraint unit to enable the sensor to have high transverse force resistance and torque resistance, and the outer circumferential face of the radial plate and the N force measuring branch chains are connected in parallel and fixedly connected to the annular force loading platform. By processing and adjusting the thickness of the radial plate, the measuring range and the measuring sensitivity of the sensor can be changed on the premise that the configuration structure and the branch measuring range of the sensor are kept unchanged, so that the application range and the application scene are wider.

Description

technical field [0001] The invention belongs to the technical field of force / torque sensors, in particular to a constrained parallel three-dimensional force / torque sensor. Background technique [0002] The three-dimensional force / torque sensor can be used to monitor the force / torque information in three mutually perpendicular directions in a space where the direction and size are constantly changing. It is a very important type of sensor and is widely used in robotics, aviation, aerospace, automotive and sports testing and other fields. , has important application value. Most of the existing multi-dimensional force / torque sensors focus on six-dimensional force sensors that perceive full-dimensional force / torque loads in space. In some industrial situations, the dimension of force / torque loads that need to be sensed is usually lower than six-dimensional. When the measurement dimension is high When the advanced six-dimensional force sensor is used for low-dimensional force / to...

AI Technical Summary

Problems solved by technology

Although the above-mentioned sensors can effectively detect three-dimensional force / moment loads, the overall stiffness in the undesired measurement load direction is weak, which in turn reduces the operation accuracy at the end of the actuator. During the operation of the sensor, it is very easy to cause unexpected damage to the sensor due to shocks, collisions, etc.

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