Six-Axis Force Sensor with Segmented Elastic Joints
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Solution Overview
Problem
Existing displacement detection type six-axis force sensors face challenges in accurately detecting force components and moment components across axes while minimizing interference between axes, leading to imprecise measurements of force magnitude and direction.
Innovation Solution
A six-axis force sensor configuration featuring a first and second end portion, an intermediate portion, and elastic connecting portions that allow for three-degrees of freedom, with detecting parts that measure relative displacements to output precise force and moment components, ensuring that the force applied to the end portions is distributed to the connecting portions without propagating through the intermediate portion, thereby eliminating load influence and enhancing detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a conventional six-axis force sensor structure is used, then the sensor can detect force components and moment components, but the detection precision is reduced due to interference between axes
Solution Approach 1:
The sensor body is divided into a first end portion, a second end portion, and an intermediate portion, with each segment having specific detection functions. The first detecting part is disposed at the first end portion while the second detecting part is disposed at the second end portion, allowing independent detection of force components and moment components without interference between axes.
Solution Approach 2:
The intermediate portion acts as a mediator that transmits force to both connecting portions while isolating the detection paths. The first connecting portion and second connecting portion are configured to transmit force to both end portions without propagating through the intermediate portion, thereby eliminating load influence on the detection accuracy.
2Measurement precision
If the force is transmitted through the intermediate portion, then the structure remains simple, but the detection accuracy is compromised due to load propagation
Solution Approach 1:
The force transmission path is segmented into the first connecting portion and second connecting portion, which are independently configured to connect the end portions to the intermediate portion. This segmentation allows force to be transmitted to both end portions without propagating through the intermediate portion, maintaining detection accuracy while keeping the overall structure relatively simple.
3Adaptability or versatility
If the detecting parts are positioned to detect all six degrees of freedom, then comprehensive force measurement is achieved, but cross-axis interference increases
Solution Approach 1:
The detection function is segmented between the first detecting part and second detecting part, with each part responsible for specific degrees of freedom. The first detecting part detects force components and moment components at the first end portion, while the second detecting part detects force components and moment components at the second end portion, achieving comprehensive six-axis detection without cross-axis interference through independent detection paths.
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
This configuration improves the accuracy of force and moment component detection by isolating the influence of load on the intermediate portion, allowing for precise output of detection values, thus enhancing the sensor's ability to measure the applied forces and moments with high precision.
Implementation Method 1
a first connecting portion that elastically connects the first end portion to the intermediate portion with first three-degrees of freedom; a second connecting portion that elastically connects the second end portion to the intermediate portion with second three-degrees of freedom
Implementation Method 2
a first detecting part that detects a relative displacement between the first end portion and the intermediate portion, accompanied by elastic deformation of the first connecting portion
Data Source
AI summary
A displacement detection type six-axis force sensor. The force sensor includes a first end portion; a second end portion; an intermediate portion; a first connecting portion elastically connecting the first end portion to the intermediate portion with first three-degrees of freedom; a second connecting portion elastically connecting the second end portion to the intermediate portion with second three-degrees of freedom; a first detecting part detecting relative displacement between the first end and intermediate portions, accompanied by elastic deformation of the first connecting portion; and a second detecting part detecting relative displacement between the second end and intermediate portions, accompanied by elastic deformation of the second connecting portion. The intermediate portion and the first and second connecting portions are disposed such that a force applied to the first or second end portion is applied to both of the first and second connecting portions without propagating through the intermediate portion.