Variable stiffness six-axis force / torque sensor based on magneto-rheological elastomers, system and method of making same

Abstract

The application discloses a variable stiffness six-axis force / torque sensor based on a magneto-rheological elastomer, a system and a preparation method thereof. The sensor comprises a central loading shaft, an outer frame yoke, an upper cover plate, a lower cover plate and four electromagnetic sensing spoke units. The outer frame yoke is arranged at the periphery of the central loading shaft, and the upper cover plate and the lower cover plate are respectively connected with the upper and lower ends of the axial direction of the outer frame yoke. The four electromagnetic sensing spoke units are cross-symmetrically distributed at intervals of 90 degrees between the central loading shaft and the outer frame yoke. Each electromagnetic sensing spoke unit comprises a magnetic conducting core extending radially outward from the central loading shaft, an excitation coil wound on the magnetic conducting core, and a magneto-rheological elastomer filled between the end of the magnetic conducting core and the inner wall of the outer frame yoke. The axial ends of the magneto-rheological elastomer are respectively provided with an inner sensing electrode layer and an outer sensing electrode layer. The application can realize six-dimensional decoupling, high magnetic circuit efficiency and large stiffness adjustment range.

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