Six-Dimensional Force Sensor With Twelve Elastic Beams
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Solution Overview
Problem
Existing six-dimensional force and torque sensors face challenges such as limited self-decoupling, low torque measurement range, and high structural requirements for strength and rigidity, leading to systematic errors and reduced reliability.
Innovation Solution
A novel six-dimensional force and torque sensor with a self-decoupling structure, utilizing twelve elastic beams with strain gauges forming full bridge circuits, and a central boss with a rectangular columnar structure, capable of measuring large torque, featuring high rigidity, natural frequency, and precision through tension-compression and bending deformations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If metal foil patch type six-dimensional sensor is used, then excellent stability and low environmental requirements are achieved, but the structure cannot realize self-decoupling and systematic error increases
Solution Approach 1:
The sensor structure is divided into multiple independent elastic beams (first elastic beams and second elastic beams) that are symmetrically arranged. Each beam group independently measures specific force or torque components, enabling self-decoupling of the measurement channels and eliminating systematic errors from cross-directional interference.
Solution Approach 2:
The first and second elastic beams are arranged asymmetrically with respect to the central axis, with the first elastic beams positioned at specific angular intervals and the second elastic beams positioned differently. This asymmetric yet symmetric arrangement enables independent measurement of different force and torque components while maintaining structural balance.
2Device complexity
If existing three-beam structure is used, then结构简单 (simple structure) is achieved, but self-decoupling cannot be realized
Solution Approach 1:
The measurement structure is segmented into multiple elastic beams arranged symmetrically around the central axis. Each beam acts as an independent measurement element, and their combined output enables self-decoupling of force and torque components without requiring complex external decoupling mechanisms.
Solution Approach 2:
Each elastic beam serves multiple functions: it provides structural support, acts as a force transmission element, and functions as a measurement element with integrated strain gauges. This multi-functionality achieves self-decoupling without significantly increasing overall structural complexity.
3Force
If torque measurement range is increased, then large torque measurement capability is achieved, but requirements on strength and rigidity of elastomer and connecting pin increase
Solution Approach 1:
The torque measurement function is segmented across multiple elastic beams positioned at different angular locations. Each beam shares the torque measurement load, allowing the sensor to measure larger torques without requiring any single beam or connecting element to have excessively high strength and rigidity.
Solution Approach 2:
Multiple elastic beams are combined in a symmetric arrangement to collectively measure torque. The combined measurement capability of all beams enables large torque measurement while distributing the mechanical stress requirements across multiple elements, reducing individual strength and rigidity demands.
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 self-decoupling, high precision, and the ability to measure large torque (50 N·m) with improved structural strength and linearity, allowing for dynamic testing and customizable measuring ranges and sensitivities.
Implementation Method 1
a plurality of strain gauges distributed on the twelve elastic beams respectively forms a full bridge type detection circuit
Data Source
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AI summary
A novel six-dimensional force and torque sensor includes a central boss, a cylindrical housing arranged outside the central boss, and twelve elastic beams for connecting the central boss with the cylindrical housing. The twelve elastic beams are respectively provided with strain gauges as needed, and a bottom of the central boss is provided with a mounting hole for mounting a signal processing module. The present invention has the characteristics of self-decoupling, high rigidity, high natural frequency, desirable linearity, ideal repeatability and perfect hysteresis, and ability to measure a large torque (50 N • m). In addition, the sensor can be designed to have different measuring ranges and sensitivities by changing the dimensions of each of the elastic beams.