Low-coupling fiber grating three-dimensional force sensor

Abstract

The invention relates to the technical field of multi-dimensional force measurement and fiber bragg grating sensing, and particularly discloses a low-coupling fiber bragg grating three-dimensional force sensor, which comprises a sensor body and a force transmission column, and is characterized in that the sensor body comprises a horizontal elastic disc, a chassis, an elastic vertical beam and a fiber bragg grating assembly; the horizontal elastic disc is made of an elastic material and comprises a disc body provided with a cavity and a plane strain beam located in the cavity, the plane strain beam is of a cross beam structure and is provided with four branch cross beams located on the same plane, the outer ends of the four branch cross beams are all connected to the inner wall of the disc body, and the center of the plane strain beam is connected with the lower end of the force transmission column; and the chassis is parallel to the horizontal elastic disc and is connected with the horizontal elastic disc through four elastic vertical beams which are arranged in an array at equal intervals along the circumference taking the axis of the horizontal elastic disc as a reference axis. Coupling interference between axial force and a pair of horizontal orthogonal force is reduced, and the problem of inter-dimensional coupling of the sensor is effectively solved through the structural design of layered sensing.

Description

technical field [0001] The invention relates to the technical field of multi-dimensional force measurement and fiber grating sensing, in particular to a low-coupling fiber grating three-dimensional force sensor. Background technique [0002] The multi-dimensional force sensor is one of the most important sensors for robots, and it is widely used in the field of robotics because it can realize interactive force measurement feedback. In the field of 3C electronics, robot manufacturers pay more attention to miniaturized, lightweight and refined collaborative robot bodies. This type of robot can accurately complete complex and highly flexible automated assembly tasks in the narrow 3C industry assembly environment. Assembly accuracy and efficiency. At present, the multi-dimensional force sensors that are widely used in robots in this field are electrical sensors, mainly including resistance strain type, capacitive type, piezoelectric type, etc. The sensitive components of such s...

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Problems solved by technology

[0004] However, the inventors of the present invention found in the process of using the above-mentioned double cross-beam three-dimensional force sensor that it still has the following disadvantages: the sensor measures the horizontal force by elastically deforming the branch beams of the upper elastic disc, and at X The coupling interference between the direction and the horizontal normal force in the Y direction is large

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