Pyramid-like multi-modal three-dimensional force measurement device

Abstract

Disclosed in the present invention is a pyramid-like multi-modal three-dimensional force measurement device, comprising a cylindrical thin wall, four spring plates, a multi-modal measurement module, a needle fixing structure and a signal processing module, wherein the four spring plates are symmetrically arranged within the cylindrical thin wall, one end of each spring plate is fixed to the edge of the inner wall of the cylindrical thin wall, the other ends of the spring plates extend towards the interior of the cylindrical thin wall and converge on a central connection block, and each spring plate is provided with a strain gauge, a magnetization region, and a first pole of a capacitor; a Hall magneto-electric element is provided on the inner wall of the cylindrical thin wall at a position opposite each magnetization region; the needle fixing structure is configured to fix an object to be subjected to measurement; second poles of capacitors are arranged on a needle-like elongated sharp object to be subjected to measurement; the multi-modal measurement module comprises a resistive strain gauge measurement module, a Hall magneto-electric measurement module, and a capacitive measurement module; and the signal processing module is configured to fuse three-dimensional forces calculated by the resistive strain gauge measurement module, the Hall magneto-electric measurement module and the capacitive measurement module and output the result.

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