Force Torque Sensor with Gradient Beams for Strain Measurement
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Solution Overview
Problem
Existing force torque sensors using strain gauges face challenges in accurately measuring strain rates due to the complexity of attaching gauges to precise deformation points, leading to measurement errors and reduced accuracy.
Innovation Solution
A force torque sensor design featuring a central hub and gradient-shaped beams with a controlled strain rate section, allowing for easy attachment and accurate placement of strain gauges to measure strain rates in multiple axes, minimizing measurement errors and facilitating production.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a strain gauge is attached to a force torque sensor to measure strain rate, then measurement capability is enabled, but measurement accuracy deteriorates due to difficulty in locating precise deformation points
Solution Approach 1:
The beam is pre-designed with a gradient shape that creates a controlled strain distribution pattern before any measurement takes place. This preliminary structural design ensures that a specific section of the beam will have relatively uniform strain rate, making it easy to locate and attach the strain gauge without requiring precise identification of deformation points
Solution Approach 2:
The beam features a gradient shape that creates different strain characteristics in different sections. Specifically, one section is designed to have a relatively uniform strain rate distribution, while other sections may have varying strain rates. This local quality differentiation allows the strain gauge to be attached to the optimal section for accurate measurement
2Measurement precision
If the strain gauge is attached to the beam to measure strain rate, then force torque measurement is enabled, but measurement accuracy is reduced due to strain rate variation at the attachment point
Solution Approach 1:
The beam is designed with a gradient shape that creates a specific section with relatively uniform strain rate distribution. This local quality ensures that when the strain gauge is attached to this section, it experiences consistent strain rates, improving measurement accuracy by reducing variations caused by non-uniform strain distribution
Solution Approach 2:
The gradient shape of the beam modifies the strain distribution parameters along its length. By changing the geometric parameters of the beam cross-section along its length, the strain rate is controlled to be relatively uniform in the measurement section, thereby improving measurement precision
3Adaptability or versatility
If multiple strain gauges are attached to measure 1-axis to 6-axis strains, then comprehensive measurement capability is achieved, but device complexity increases
Solution Approach 1:
The gradient-shaped beam structure is designed to be multi-functional, capable of measuring strain rates in multiple directions (1-axis to 6-axis). By attaching strain gauges at specific locations on the beam, the same structural element can detect forces and torques along different axes, eliminating the need for separate sensing elements for each axis and reducing overall device complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design enhances measurement accuracy and simplifies production by maintaining a consistent strain rate section for gauge attachment, enabling the sensor to function as a 1-axis to 6-axis force torque sensor with reduced errors and material usage.
Implementation Method 1
a strain gauge attached to one of the beams to measure a strain rate of the beam
Data Source
AI summary
The present invention relates to a force torque sensor, a force torque sensor frame, and a force torque measurement method. The force torque sensor includes a central hub, a plurality of beams each having one side connected to the hub, and a rim connected to the other side of each beam to surround the hub and the plurality of beams. The force torque measurement method includes: a step of forming a gradient shape in a longitudinal direction thereof so that a section is provided in which a strain rate on each of the beams due to a force or torque is maintained within a predetermined value; and a step of measuring a strain rate in X-axis, Y-axis, or Z-axis directions after a strain gauge is attached to a corresponding section. Thus, a measurement center of the strain gauge may be positioned within a predetermined section.