Miniature all-plane 6D force and moment sensor

Abstract

The present invention relates to force sensing sensor. The miniature all-plane 6D force and moment sensor is one flat disc structure comprising one central body, three outer ring beams in 60 deg angle and around the central body, three radial inner ring beams in 120 deg angle inside the outer ring beams, and strain gauges. Each of the three inner ring beams has inner end connected to the central body and outer end connected to the joint of two outer ring beams. All the central body, outer ring beams and inner ring beams are connected to form one integral structure, and each of the outer ring beams and inner ring beams has one strain gauge set. The present invention can measure 3D forces Fx, Fy and Fz and 3D moments Mx, My and Mz in any space simultaneously, is one small and precise sensor suitable for micro machining, and may be used in finger tip of smart hand of human-imitating robot to raise the intelligence degree of robot.

Description

Technical field: [0001] The invention relates to a sensor, especially a sensor capable of sensing force. Background technique: [0002] The first sign of an intelligent robot is to have a sensory function, and the sense of force is an important information during the operation of the robot. It is used to detect the force and moment that the robot operator bears when it contacts with the external environment or grabs the workpiece, and provides force-sensing information for the force control and compliance control of the robot, so as to complete more complex and delicate operations. In the seventies of the twentieth century, various countries began to research on multi-dimensional forces. At present, the relatively large companies include Load, JR 3 API and others produce six-dimensional force / torque sensors, and the structure of the sensors is also different. Most of them are relatively large and based on the cross-beam structure. API, which produces small sensors, has not ...

AI Technical Summary

Problems solved by technology

In the seventies of the twentieth century, various countries began to research on multi-dimensional forces. At present, the relatively large companies include Load, JR 3 API and others produce six-dimensional force / torque sensors, and the structure of the sensors is also different. Most of them are relatively large and based on the cross-beam structure. API, which produces small sensors, has not announced the structure of its sensors.

At present, similar miniature sensors have appeared in Japan and the United States, but they are expensive

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