Six-Axis Force Sensor Merging Detection Functions
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Solution Overview
Problem
Existing displacement detection type six-axis force sensors face challenges in accurately detecting displacements across six axes while maintaining a simplified structure and reducing fabrication costs.
Innovation Solution
A six-axis force sensor design featuring a fixed part, two movable parts, and corresponding connecting parts that allow elastic displacement in specific axes, with detecting sections to measure capacitance changes between electrodes, enabling high-accuracy detection of force and moment components across three axes, and simplifying the structure for easier assembly and cost reduction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a displacement detection type six-axis force sensor uses multiple detecting sections to detect displacements across six axes, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent merges the detection functions by having the first detecting section detect displacement of the first movable part relative to the fixed part, and the second detecting section detect displacement of the second movable part relative to the first movable part. This shared detection architecture reduces the number of independent detecting sections needed while maintaining six-axis measurement capability, thereby reducing device complexity without sacrificing measurement precision
Solution Approach 2:
The first movable part serves multiple functions: it is both the detected object for the first detecting section and the reference frame for the second detecting section. This multi-functionality allows a single component to participate in multiple detection mechanisms, reducing the overall number of components and simplifying the sensor structure while enabling comprehensive six-axis force and moment measurement
2Ease of manufacture
If the sensor structure is simplified to reduce fabrication cost, then ease of manufacture is improved, but measurement precision may deteriorate
Solution Approach 1:
The sensor is segmented into modular components (fixed part, first movable part, second movable part, connecting parts) that can be manufactured separately and assembled. This segmentation allows each component to be optimized for its specific function and manufactured using appropriate processes, reducing overall fabrication cost while maintaining the precision required for six-axis force measurement through proper design of each segment's displacement characteristics
3Measurement precision
If multiple movable parts and connecting parts are used to enable six-axis displacement detection, then measurement precision is improved, but ease of manufacture deteriorates
Solution Approach 1:
The connecting parts are pre-configured with specific elastic properties and geometric characteristics that enable the movable parts to achieve the required displacement degrees of freedom. This preliminary design of the connecting parts ensures that when assembly occurs, the components naturally align and connect in the correct configuration, facilitating assembly while maintaining the precision needed for six-axis force and moment detection
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 sensor achieves high-accuracy displacement detection across six axes, simplifies the structure, and reduces fabrication costs by allowing each detecting section to share detection in three degrees of freedom, facilitating precise force and moment component measurement.
Implementation Method 1
a first connecting part connecting the first movable part to the fixed part so that the first movable part is able to be elastically displaced
Implementation Method 2
a second connecting part connecting the second movable part to the first movable part so that the second movable part is able to be elastically displaced
Implementation Method 3
detect a displacement by detecting a change in capacitance provided at a predetermined position on a sensor body
Data Source
AI summary
A six-axis force sensor including a fixed part; a first movable part; a first connecting part connecting the first movable part to the fixed part in an elastically displaceable manner; a second movable part; a second connecting part connecting the second movable part to the first movable part in an elastically displaceable manner; a first detecting section detecting a displacement of the first movable part relative to the fixed part; and a second detecting section detecting a displacement of the second movable part relative to the first movable part. The six-axis force sensor enables, in a three-axis rectangular coordinate system, a detection of force components in first axis, second axis and third axis directions, and moment components about the first axis, the second axis and the third axis, of a force applied to the second movable part, with reference to detection values of the first and second detecting sections.