Six-dimensional force measuring platform and decoupling method thereof

A measurement platform and six-dimensional force technology, applied in the field of six-dimensional force measurement platform and its decoupling, can solve the problem of low measurement accuracy, achieve high measurement accuracy, good followability and consistency, no assembly stress and connection gap Effect

Active Publication Date: 2022-03-04
XI AN JIAOTONG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and provide a six-dimensional force measurement platform and its decoupling method to solve the measurement and calculation process of the six-dimensional force measurement platform in the prior art, which is easily affected by temperature. The problem of low precision

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  • Six-dimensional force measuring platform and decoupling method thereof
  • Six-dimensional force measuring platform and decoupling method thereof
  • Six-dimensional force measuring platform and decoupling method thereof

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Embodiment 1

[0084] As one of the preferred solutions, one of the three-dimensional force sensors is a polygonal structure, because the polygonal structure has the characteristics of good stability and symmetrical force, which is beneficial to realize the physical decoupling of the multi-dimensional force sensor. In this embodiment, two regular octagonal ring structures 1221 perpendicular to each other are used as the elastic structure of the three-dimensional force sensor, which is defined as a double octagonal elastic structure 122, and are arranged symmetrically at multiple positions of the double octagonal elastic structure 122. A semiconductor resistance strain gauge 13 is combined into three Wheatstone full-bridge circuits to realize the decoupling measurement of three-dimensional force, and the specific introduction is as follows. see Figure 5 (a) and Figure 6 (a), the XY plane and the XZ plane are two central planes of the double octagon elastic structure 122 respectively.

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Embodiment 2

[0098] As one of the preferred solutions, one of the three-dimensional force sensors is a beam structure, which can be a straight beam structure or a variable cross-section beam 121, but its core is to arrange semiconductor resistance strain gauges 13 on the beam structure and combine them into a Decoupling 3 Wheatstone bridges measuring three-dimensional force components.

[0099] Specifically, such as Figure 9 As shown in (a), the middle part of the six-dimensional force measurement platform based on the variable cross-section beam 121 is four variable cross-section, straight beam-type three-dimensional force sensors, and the structure of each three-dimensional force sensor is as follows Figure 9 (b) shown. The variable cross-section beam 121 is divided into upper and lower two short and thick outer quadrangular prisms 1211 and a middle long and thin middle quadrangular prism 1212, the middle quadrangular prism 1212 is arranged between the two outer end quadrangular prism...

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Abstract

The invention discloses a six-dimensional force measuring platform and a decoupling method thereof, and the method aims at the above typical problems of a six-dimensional force sensor, the measuring platform is processed into a whole through an integrated manufacturing technology, four three-dimensional force sensors are arranged in the measuring platform, and the output signals of the four three-dimensional force sensors are linearly added and subtracted. The three-dimensional force and three-dimensional torque measuring platform has the advantages that the decoupling method is simple, and the measuring precision is high; each three-dimensional force sensor adopts a Wheatstone full-bridge structure as a measurement circuit, so that the influence of temperature change on the measurement result of the sensor is effectively eliminated; the sensor manufactured through integrated machining is compact in structure, free of assembly stress and connection gaps, good in following performance and consistency of input signals, small in signal conversion loss and high in measurement precision.

Description

technical field [0001] The invention belongs to the technical field of system or unit monitoring or testing, and specifically relates to the technical field of multi-dimensional force measurement. More specifically, the invention relates to a six-dimensional force measurement platform and a decoupling method thereof. Background technique [0002] The six-dimensional force sensor is a kind of force sensor capable of detecting three-dimensional orthogonal force (F x , F y , F z ) and three-dimensional orthogonal torque (T x , T y , T z ) measuring device. The measurement of six-dimensional force (that is, three-dimensional force and three-dimensional torque) plays an important role in the fields of robotics, space station docking simulation, rocket engine thrust test, precision and ultra-precision assembly, and space generalized force control test. The difficult problem to be solved in the measurement of three-dimensional force and three-dimensional torque is how to real...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/1627
CPCG01L5/1627
Inventor 赵友赵玉龙王鲁康杨玉
Owner XI AN JIAOTONG UNIV
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