47 results about "Tangential force" patented technology

According to the mechanical arm control method and system based on the self-adaptive force field, the motion state of a patient is monitored, the motion state is compared with a demonstration space trajectory, and training performance information of the patient is obtained. Based on the training performance information and the constructed adaptive force field model, auxiliary force applied to the patient is obtained through calculation, wherein the auxiliary force comprises normal force, tangential force and viscous force. And the applied auxiliary torque is calculated based on the tail end posture of the mechanical arm and the target posture, the joint control torque is obtained according to the auxiliary force and the auxiliary torque, and the dynamic torque and the null space control torque of the robot dynamic model are obtained. And the joint control torque, the dynamic torque and the null space control torque are combined to obtain the comprehensive control torque for controlling the mechanical arm. Therefore, the self-adaptive adjustment of the auxiliary force is realized based on the position, speed and direction of the patient, and the time degree of freedom can be obtained in the motion of the self-adaptive force field, so that the patient obtains more freedom of active motion under the assistance of the space force field.

This invention discloses a sensor calibration device and method based on three-dimensional pressure decoupling. It solves the problem that traditional impact calibration devices can only provide impact loads in a single direction and cannot simulate the complex stress state of sensors under the combined action of normal pressure, tangential pressure and confining pressure in real working conditions. This invention uses multiple three-dimensional decoupling components with adjustable tilt angles and a standard force sensor at the bottom to accurately decompose the single axial impact force provided by systems such as drop hammers into normal and tangential forces acting on the sensitive surface of the pressure sensor to be calibrated. Combined with the confining pressure provided by the three-dimensional pressure chamber, it can simultaneously reproduce the multi-dimensional stress state of the pressure sensor in a real soil and rock environment in one system, realizing the performance calibration of one-dimensional sensors under multi-dimensional force coupling.

The utility model relates to a torque limiter which comprises a first component, a second component, a spiral spring and a positioning component, and the first component, the second component, the spiral spring and the positioning component are coaxially arranged along the same axis. According to the spiral spring, the spiral spring is provided with a spring body, a first end portion and a second end portion, the first end portion and the second end portion extend out of the spring body in the axis direction, and the spring body is tightly wound on at least part of the peripheral face of the first component. The positioning component is connected with the second component, and an accommodating space for accommodating the spiral spring and at least one part of the first component is formed, so that when the second component applies tangential force relative to the axis at the first end part, the first component can rotate along a first direction; when the positioning part exerts tangential force relative to the axis on the second end portion, the first part can rotate in the opposite second direction. The utility model further relates to a flip machine with the torque limiter and a toilet bowl with the torque limiter.

This invention relates to a torque limiter comprising a first component, a second component, a helical spring, and a positioning component, wherein the first component, the second component, the helical spring, and the positioning component are coaxially arranged along the same axis. According to the invention, the helical spring has a spring body and a first end and a second end extending from the spring body along the axial direction, wherein the spring body is wound on at least a portion of the outer peripheral surface of the first component, and the positioning component is connected to the second component and thereby forms a receiving space accommodating the helical spring and at least a portion of the first component, such that when the second component applies a tangential force relative to the axis at the first end, the first component can rotate in a first direction, and when the positioning component applies a tangential force relative to the axis at the second end, the first component can rotate in the opposite second direction. Also related is a flip-top lid machine and a toilet with a torque limiter.

To provide a measuring device and method for improving the measurement accuracy of lateral pressure or a contact position.SOLUTION: A measurement device that measures a lateral pressure Q or a contact position between a wheel 100 of a railway vehicle and a rail, the measurement device including a plurality of strain gauges that detect a shear strain of a plate portion caused by the lateral pressure, and a calculation unit 400 that continuously calculates the lateral pressure or the contact position on the basis of an output of a bridge circuit that includes the strain gauges and is asymmetric with respect to a rotation center axis, the characteristic of the output sensitivity of the bridge circuit according to the wheel load between the wheel and the rail and the front-rear tangential force of the wheel changes with the rotation of the wheel, and the calculation unit calculates the lateral pressure or the contact position based on the cross sensitivity vector of interest determined by the characteristic of the output sensitivity of the bridge circuit or the inverse element orthogonal to the sensitivity vector.SELECTED DRAWING: Figure 1

To provide a wheel flat estimating device, a wheel performance testing device and a key control device for evaluating a wheel re-adhesion control method for allowing proper wheel sliding having the possibility of damaging a wheel and a rail.SOLUTION: The wheel flat estimation device 10 includes a motion analysis part 20 for calculating various parameters by analyzing the behavior between a wheel and a rail when the wheel is fixed, a frictional heat analysis part 30 for calculating the temperature of the tread of the wheel when the wheel is fixed by frictional heat analysis, and a calculation part 30 for calculating the wheel flat based on the calculated temperature of the tread and reference data. The shape estimation device includes a yield stress calculation unit 40 that calculates a wheel yield stress of a wheel, an area calculation unit 50 that calculates an area of a contact ellipse between the wheel and a rail, a comparison unit 60 that compares a magnitude relationship between a tangential stress calculated from a tangential force and the area of the contact ellipse and the wheel yield stress, and an estimation unit 70 that estimates, as a wheel flat shape, a contact ellipse having a minimum area in which the wheel yield stress is determined to be larger than the tangential stress by the comparison in the comparison unit 60.SELECTED DRAWING: Figure 1

The invention discloses a device and a method for testing anisotropic mechanical properties of strong heterogeneity rocks, the device comprises a rotatable rock sample fixing device, a workbench and a sliding track, and a scratching cutter control and data monitoring system, the workbench and the sliding track device main body are fixed on a table top and are convenient to support and move; the slidable scratching system moving track supports the slidable scratching system to move left and right; the rotatable rock sample fixing device is located on the left side above the table top and can fix the position of a rock sample and change the rock scratch angle. The scratching tool control and data monitoring system is located on the right side of the table top and connected with the sliding rail, the slidable scratching system can scratch rocks, and the data monitoring system can monitor and collect tangential force data borne by a tool bit and displacement data of the tool bit in real time; the device and the method for testing the anisotropy of the shale based on the scratches can be researched so as to judge the anisotropy mechanical property of the strong heterogeneity rock.

Disclosed herein are systems and methods for measuring a force applied by a brake pad to a brake caliper by a sensor configured to be positioned between the caliper and the brake pad. Systems and methods herein may include a processor configured to receive an output signal from a sensor and process the signal to generate data regarding a force applied to the caliper and determine a torque generated during braking. The systems and methods herein may include a second sensor that outputs signals representative of measurements of brake pressure, processes the signals to generate data regarding the brake pressure, and determines a brake efficiency generated during braking. In addition, the systems and methods herein may include a plurality of wheel devices including the calipers and sensors disclosed herein.

The invention relates to the technical field of force sensors, and discloses a six-dimensional force sensor comprising a mounting seat; the cover plate can rotate around a first direction and a second direction relative to the inner core to drive the inner core to rotate around a third direction and move along the first direction, the second direction and the third direction; a first rotary connection assembly; the first tangential force sensitive core body is used for detecting a first tangential force; a second rotary connection assembly; the second tangential force sensitive core body is used for detecting a second tangential force; the third tangential force sensitive core body is used for detecting a third tangential force; the force transmission piece is arranged on the inner core in a sleeving manner; the first direction force sensitive core body is used for detecting a first acting force; the second direction force sensitive core body is used for detecting a second acting force; the second force transmission piece is fixed on the movable piece; and the third direction force sensitive core body detects the third acting force. According to the six-dimensional force sensor disclosed by the invention, the defects of low detection precision, poor creep resistance, low frequency response and remarkable temperature drift of a strain gauge type six-dimensional force sensor are improved.

This invention discloses an electric cutter clamping device, including a tangential force support mechanism, a gripper mechanism, and a gravity support mechanism. These three mechanisms cooperate to automatically fix the electric cutter. The tangential force support mechanism is a hollow structure with a groove, comprising an upper support mechanism and a lower support mechanism that cooperate with each other. The gripper mechanism includes a left gripper structure, a right gripper structure, a left front magnet, a right front magnet, a left rear magnet, and a right rear magnet. The various components of the gripper mechanism cooperate to automatically clamp the electric cutter, maintain its position on the rotating worktable, and prevent the electric cutter from being thrown off by the centrifugal force of the rotating worktable. The gravity support mechanism is a groove-shaped mechanism located below the tangential force support mechanism. This invention simplifies the steps of fixing the electric cutter, reduces the labor intensity of operators, and improves production efficiency and product consistency.

The utility model discloses a positioning device for double-chain pushing, a transportation system and filling machine equipment, and relates to the technical field of transportation. The driving lever assembly comprises a driving lever and a plurality of connecting shafts, the connecting shafts are rotatably arranged on the driving lever in a penetrating mode, and one of the connecting shafts can move on the driving lever in the transmission direction of the chain. The connecting pieces are used for being fixed to the chains, and the two ends of the connecting shaft are used for being detachably connected with the connecting pieces on the two chains arranged in parallel so that the shifting rod can be located between the two chains. According to the positioning device for double-chain pushing, the connecting shaft is rotationally connected to the shifting rod, tangential force borne by the shaft shoulder, connected with the chains, of the shifting rod can be reduced, the risk that the shaft shoulder, connected with the chains, of the shifting rod is broken is reduced, meanwhile, the connecting shaft and the connecting piece can be detached, and the positioning device is convenient to use. The shifting rod assembly can be rapidly replaced, and the stability of double-chain material pushing is improved.

The invention relates to a microcosmic test device and method for measuring shear friction and anti-torsion characteristics of a microcosmic contact interface. Independent test modules for torsion test and shear test can be realized. The microcosmic test device comprises a support platform, a test unit (a torsion unit and a shearing unit) and a rotating unit. Compared with the prior art, normal displacement, shear displacement, friction coefficient and torsion angle of a contact interface under the single or coupling action of normal force, tangential force, torque and the like at the micro-nano scale are realized, and the relationship between force-displacement and torque-rotation angle is established; the microcosmic contact mechanical properties of a particle aggregate, a particle-plane, a plane-plane, a cemented sample interface and the like can be accurately reflected.

This invention provides an additive manufacturing apparatus and an additive manufacturing method. The additive manufacturing apparatus includes a stationary shoulder and a stirring head, with a cavity structure between the stirring head and the stationary shoulder. This cavity structure is connected to a feed channel and a forming port. The tangential force generated by the rotation of the stirring head and the surface texture facilitate the entry of additive material from the feed channel into the cavity. During operation, the stationary shoulder contacts the substrate, leaving only the forming port at the rear edge of the stationary shoulder for the formation of the additive layer. The feed channel in the stationary shoulder structure ensures that the additive material smoothly reaches the cavity structure. The stirring head penetrates the substrate, and through a stirring and friction process, softens and plastically flows the additive material, ensuring full contact with the substrate. As the welding tool moves, an additive layer is formed at the forming port on the rear side of the travel direction.

The invention relates to the technical field of pressure sensors, and provides a three-dimensional force measurement method and system based on a normal pressure array, and the method comprises the steps: arranging an elastic layer with preset model parameters on a normal force array sensor, and applying preset pressure to the elastic layer, obtaining a pressure resultant force and a pressure center offset of the normal force array sensor, and obtaining a corresponding tangential force according to the pressure resultant force and the pressure center offset; in order to ensure the measurement accuracy of the tangential force, the model parameters are calibrated and preset through calibration, so that the model parameters are more accurate, the precision of three-dimensional force measurement is improved, and the thickness of the whole sensor measurement mode can be effectively controlled, so that the sensor can be conveniently mounted in a narrow space such as a sole to measure related parameters, and the measurement accuracy is improved. And the application range is wide.

The application provides a two-degree-of-freedom soft driver for rotary conveying, comprising a driving soft body, wherein a hole allowing a puncture needle to pass through is arranged in the driving soft body, the periphery of the hole is provided with a forward secondary spiral cavity and a reverse secondary spiral cavity, the profile of any one of the forward secondary spiral cavity and the reverse secondary spiral cavity is a sinusoidal secondary spiral curve; when the forward secondary spiral cavity and / or the reverse secondary spiral cavity expands, the expansion direction thereof is in frictional contact with the puncture needle passing through the hole, so as to generate an inclined tangential force. Through the three-dimensional wave principle of the forward secondary spiral cavity and the reverse secondary spiral cavity, linear and rotary decoupling conveying of the puncture needle is realized, and the driver has the characteristics of simplicity, small size, long conveying stroke and the like, solves the problems of space limitation, small stroke, complex rotary and linear decoupling mechanism and the like in the clinical puncture process, and has a locking function.

The present application relates to the field of physical fitness, in particular to a dynamic fitness dumbbell, comprising dumbbell pieces, a handle, a rotating mechanism and a control mechanism; the two ends of the handle are respectively fixedly connected with the dumbbell pieces, wherein the dumbbell pieces are of a hollow structure; the rotating mechanism is installed in the dumbbell pieces; the control mechanism is in frictional contact with the arc-shaped ball through a friction rod to provide a tangential force of the arc-shaped ball, and then the fitness dumbbell produces irregular shaking under the action of the precession effect, and the setting of the pre-stress before fitness is provided; the present application provides the condition for the rotation of the rotating mechanism through the pre-stress set before the use of fitness, so that the user can control the wrist at any time during use to achieve the purpose of body coordination training by the pre-stress and the swing of the wrist.

The present invention relates to the field of pressing technology, specifically to an automated chain pressing machine for large-tonnage chain rails, comprising a base, a conveyor, a mounting frame and a push frame, and also comprising a hydraulic cylinder, a mounting assembly, a locating pin, a hydraulic push rod, a clamping frame, a pressure plate and a limit assembly. The two hydraulic cylinders are respectively connected to both sides of the base, and the two mounting assemblies are respectively connected to adjacent ends of the hydraulic cylinder, the locating pin is connected to adjacent ends of the mounting assembly, the hydraulic push rod and the clamping frame are both connected to the mounting frame, the lower end of the hydraulic push rod is connected to the mounting assembly, the pressure plate is connected to the hydraulic cylinder, the limit assembly is connected to the lower side of the mounting frame, and one end of the pressure plate extends to the upper side of the limit assembly. The present invention transforms axial pressure splicing into screw-in pressure splicing, and uses the tangential force generated by the screw-in to overcome the instantaneous friction generated during the installation process, thereby reducing the pressure required during installation and effectively avoiding compressive deformation of the chain rail segments.

The present invention provides a negative stiffness amplification device and a design method thereof. The negative stiffness amplification device includes a pre-stressed disc spring mechanism and upper and lower elbow steel supports; the pre-stressed disc spring mechanism and the lower elbow steel support are connected by a pin shaft and form a straight line, and the upper and lower ends of the two are connected to the frame structure by pin shafts respectively; the two ends of the upper elbow steel support are also connected to the frame structure and the lower elbow steel support by pin shafts respectively. When the frame structure is deformed, the pre-stressed disc spring mechanism generates a tangential force, and the direction of the tangential force is opposite to the movement direction of the upper and lower supports, forming a negative stiffness effect. The negative stiffness effect can also be amplified by forming a geometric relationship through the angle between the pre-stressed disc spring mechanism and the upper and lower elbow steel supports. The present invention can not only improve the negative stiffness effect, reduce the structural stiffness and reduce the seismic effect while ensuring that the structural bearing capacity remains unchanged, but also protect the main structure and provide support for the application of negative stiffness devices in the field of civil engineering.

This invention relates to the field of force sensor technology, and discloses a six-dimensional force sensor, comprising: a mounting base; an inner core and a cover plate, the cover plate being rotatable relative to the inner core around a first direction and a second direction, driving the inner core to rotate around a third direction and move along the first direction, the second direction, and the third direction; a first rotational connection assembly; a first tangential force-sensitive core for detecting a first tangential force; a second rotational connection assembly; a second tangential force-sensitive core for detecting a second tangential force; a third tangential force-sensitive core for detecting a third tangential force; a force transmission element sleeved on the inner core; a first-direction force-sensitive core for detecting a first applied force; a second-direction force-sensitive core for detecting a second applied force; a second force transmission element fixed to a movable component; and a third-direction force-sensitive core for detecting a third applied force. The six-dimensional force sensor disclosed in this invention improves upon the shortcomings of strain gauge-type six-dimensional force sensors, such as low detection accuracy, poor creep resistance, low frequency response, and significant temperature drift.

The invention relates to the technical field of wedge mechanisms, and discloses a rack type upturning wedge mechanism which comprises a wedge base, a linkage axial part is arranged on the wedge base, power execution parts are correspondingly arranged on the two sides of the linkage axial part in a matched mode, and the power execution parts on the two sides are in running fit with the linkage axial part. Power is transmitted in a tooth surface meshing mode, the contact point of the rack and the gear is located on the circumferential face of the outermost side of the gear all the time, pure tangential acting force is formed, no torsion is generated, the acting force direction is completely consistent with the transmission direction, force loss component force does not exist, and due to the outermost side tangential contact design, the transmission efficiency is greatly improved. Driving resistance is greatly reduced based on the principle of arm of force maximization, namely the closer to the outer side of the gear, the longer the arm of force is, the smaller the needed driving acting force is, efficient and labor-saving driving is achieved, meanwhile, the tangential force characteristic thoroughly avoids vertical friction component force of a traditional structure, and meshing friction resistance is further reduced to the minimum.

The invention provides a slope terrain gait planning method and device for an underwater quadruped robot, and relates to the technical field of robot control, and the method comprises the steps: obtaining the trim angle of a robot body and a slope tilt angle, and determining the maximum trim angle of the robot on a current slope; whether the maximum trim angle is larger than or equal to the slope inclination angle or not is judged, if yes, a preset gait is adopted for climbing, and if not, the gait of the robot is dynamically adjusted; for the supporting legs, minimization of the tangential force of the front supporting legs and approaching of the propelling force of the rear supporting legs to a target value serve as optimization targets, under the condition that force and moment balance, friction cone constraint and pressure constraint are met, target foot end force of all the supporting legs is dynamically distributed, and control instructions of corresponding joints of all the supporting legs are executed; for the swinging legs, the gait cycle is prolonged according to the difference value between the slope inclination angle and the maximum trim angle, the swinging height of the front swinging leg and the falling point position of the rear swinging leg are adjusted in a self-adaptive mode, and control instructions of the joints corresponding to the swinging legs are executed.

The utility model relates to a transmission device which comprises an output piece, an input piece, a torsion spring and an end cover, the output piece, the input piece, the torsion spring and the end cover are coaxially arranged along the same axis, the end cover is connected with the input piece, and therefore a containing space for containing at least one part of the torsion spring and the output piece is formed. The torsional spring is provided with a torsional spring body, a first end and a second end, the first end extends out of the torsional spring body in the radial direction relative to the axis direction, the second end extends out of the torsional spring body in the axis direction, and the torsional spring body is tightly wound on at least part of the peripheral face of the output piece. The input part can make the output part rotate in the first direction when the first end exerts tangential force relative to the axis, and can make the output part rotate in the second direction opposite to the first direction when the second end exerts tangential force relative to the axis. The utility model further relates to a flip machine and a closestool.

The invention discloses a new material plastic pipe strength detection device based on stable mechanical stress, relates to the technical field of pipe detection, and aims to solve the technical problem that the accuracy of a test result is influenced by fluctuation of stress applied to a sample, the new material plastic pipe strength detection device comprises a pipe body, a spiral blade is integrally formed in the pipe body, and a retaining assembly comprises an elastic plate; the pressure applying mechanism comprises an anchoring head, a steel ball used for detecting the anchoring head is arranged on the inner wall of the containing groove, the constant force loading mechanism comprises a force applying arm, an assembling plate and a counterweight assembly installed in the assembling plate in a sliding mode, and rolling wheels are rotatably installed at the bottom end of the force applying arm. The device has the advantages that constant force loading is achieved through combination of the balance weight and the lever, fluctuation of a hydraulic / pneumatic system and drifting of electronic elements are avoided, force application is stable and accurate, the device is adaptive to a spiral structure of a pipe, tangential force and axial force detection can be carried out, detection is comprehensive, operation is convenient and fast, the device is adaptive to different detection standards, and the accuracy and repeatability of a detection result are effectively improved.

Method for determining the available frictional contact between at least one wheel (18) of a rail vehicle (10) and a running surface (12) of a rail on which the at least one wheel (18) rolls, comprising the following steps: - Contact at least one magnetic track brake (20) with the running surface (12) of the rail, - Determine at least one contact force (40) between the at least one magnetic track brake (20) on the running surface (12), - Determine at least one tangential force (42) between at least one magnetic track brake (20) and the running surface (12), - Determining the available frictional engagement between wheel (18) and driving surface (12) by processing at least one contact force (40) and at least one tangential force (42), wherein the at least one magnetic track brake (20) is used in such a way that no significant deceleration of the rail vehicle (10) occurs, and wherein the at least one magnetic track brake (20) is used in such a manner, that the procedure for determining the available frictional engagement is separate from a method for generating a braking force for braking the rail vehicle (10) is carried out.

This invention discloses a double-sided polishing control method and system based on the concave-convex shape of the polishing disc surface, belonging to the field of intelligent control technology. The method includes: setting an initial reference rotational speed of the planetary wheel, generating a first initial polishing path and a second initial polishing path; obtaining a first tangential resistance vector and a second tangential resistance vector, calculating the difference in tangential force between the two sides, and triggering a path planner when the difference in tangential force between the two sides is greater than or equal to a preset threshold; obtaining a first compensation speed increment and a second compensation speed increment; modulating the initial external gear rotational speed of the planetary wheel to obtain a modulated speed signal; sending the modulated speed signal, the first compensation speed increment, and the second compensation speed increment to the upper and lower disc drive motors of the planetary wheel to obtain a first reconstructed polishing path and a second reconstructed polishing path. This solves the technical problem in the prior art where uneven force on the upper and lower surfaces during double-sided polishing leads to poor polishing uniformity, achieving the technical effect of improving the uniformity of double-sided polishing of the workpiece.

The application discloses a tension roller group dynamic load distribution method based on a slip mechanism and particularly relates to the field of dynamic load distribution; the application establishes a model by calculating tension loss and actual tension values of tension roller inlets / outlets, combining elastic deformation and geometric parameters; a strip steel winding angle is divided into micro-arc segments, tension changes under a critical sliding state are analyzed, normal and tangential force balance equations are constructed, and the influence of friction and gravity is considered; according to limit tension amplification coefficients of each tension roller, total tension ratios are proportionally distributed, it is initially assumed that proportional factors of each roller are equal, a common proportional factor is solved through iteration, and tension differences of each roller are calculated; further, transmission power and torque are calculated, tension amplification, friction loss and bending loss are comprehensively considered, and the driving motor capacity is checked; if the limit is exceeded, the tension roller proportion of the upstream and downstream is adjusted, the tension difference of the over-limit roller is preferentially reduced, and step-by-step optimization is performed until the power and torque of all rollers meet the requirements.

The invention discloses a tonnage monitoring method, electronic equipment and a computer readable storage medium. The method comprises the steps that the torque of a motor is acquired, and the rotating speed of the motor is acquired; obtaining the tangential force of the crankshaft according to the torque and the rotating speed of the motor; obtaining a first angle and a second angle, and obtaining a first acting force applied to the sliding block by the connecting rod in the first direction according to the tangential force of the crankshaft, the first angle and the second angle; the acceleration of the sliding block is obtained, and the machining pressure of the sliding block is obtained according to the first acting force and the acceleration. Through the method, tonnage monitoring of the servo punching machine can be completed without depending on a tonnage sensor.

The invention discloses a dynamic modeling method for IAS response disturbance caused by initial peeling extension evolution of a deep groove ball bearing outer ring. Comprising the following steps: establishing a fault model of initial peeling of an outer ring raceway, performing parametric modeling on a sharp edge, an arc edge and an oblique angle sharp edge before and after peeling evolution, and calculating contact deformation before and after a rolling body passes through a peeling area. Calculating the normal contact force between the rolling body and the inner and outer ring raceways, considering a rolling resistance friction model and additional displacement excitation, and deducing an angle change tangential force excitation function; and respectively deducing the tangential impact forces of the three edge shapes in the evolution process of the spalling region. Through an angular domain modeling method, an angle sequence is used as an independent variable, an instantaneous angle parameter is explicitly expressed in a differential equation, an IAS dynamic differential equation set of initial peeling evolution of the outer ring of the deep groove ball bearing is constructed, and a fourth-order Runge-Kutta method is used for solving IAS response of the bearing. And the IAS dynamic response of the deep groove ball bearing during initial peeling evolution of the outer ring raceway can be effectively and accurately obtained.

The application relates to the technical field of pressure sensors, and provides a three-dimensional force measurement method and system based on a normal pressure array, which comprises the following steps: arranging an elastic layer with preset model parameters on a normal force array sensor, and applying preset pressure to the elastic layer, so as to obtain the pressure resultant force and pressure center offset amount of the normal force array sensor, and obtaining the corresponding tangential force according to the pressure resultant force and pressure center offset amount; and in order to ensure the measurement accuracy of the tangential force, the preset model parameters are calibrated and corrected, so that the model parameters are more accurate, the three-dimensional force measurement accuracy is improved, and the thickness of the whole sensor measurement mode can be effectively controlled, the sensor is convenient to install in a narrow space such as a foot bottom to measure relevant parameters, and the application range is wide.

This invention discloses a high-power-density planetary traction drive. A loading wedge space and a balancing space are formed on both sides of the radial distance circumference between the planetary rollers and the outer ring. A loading roller is located within the wedge-shaped loading space and rolls in contact with the planetary rollers and the outer ring. A balancing idler wheel is provided in the balancing space. The planetary rollers, balancing idler wheel, and loading rollers are all floating, with the loading rollers abutting against the planetary carrier. The torque or counter-torque transmitted by this invention can directly act on the loading rollers, achieving adaptive loading and making the loading process faster and more flexible. Optimization of the load in the contact area also improves the service life of the traction drive. The superposition of contact forces generates a larger clamping force, thereby ensuring sufficient tangential force in each contact area to transmit power. Furthermore, the planetary traction drive provided by this invention can achieve high-load transmission under the load-sharing effect of multiple rollers. The zero-spin design based on cylindrical rollers also minimizes power loss, resulting in high power density and improved transmission accuracy and efficiency.