Six-Dimensional Force Sensor Integral Elastomer Decoupling
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Solution Overview
Problem
Existing six-dimensional force and torque sensors have limitations such as high assembly requirements, low natural frequency, and increased system errors due to fewer strain gauges on small-sized elastomers, which affect accuracy and decoupling.
Innovation Solution
A small six-dimensional force and torque sensor design featuring a cylindrical housing with integral elastic beams and strain gauges forming full bridge circuits, allowing self-decoupling in six directions with high strength, rigidity, and adjustable measurement range without assembly, enabling precise force and torque measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the elastomer is formed by connecting all elastic beams together through ball hinges, then self-decoupling and high precision are achieved, but the assembly process has high requirements and assembly accuracy affects sensor performance
Solution Approach 1:
The patent integrates multiple elastic beams into a single integral elastomer structure, eliminating the need for separate assembly of individual beams through ball hinges. This merging approach maintains the self-decoupling precision while significantly reducing assembly complexity and eliminating assembly accuracy issues.
2Volume of moving object
If the number of strain gauges attached on the elastomer is reduced, then the structural size is reduced, but the system error increases
Solution Approach 1:
The patent strategically places strain gauges on specific high-strain regions of the integral elastomer structure, such as the elastic beams and their connection points. This localized placement ensures maximum measurement sensitivity with minimal gauge count, reducing system error while maintaining compact sensor dimensions.
3Measurement precision
If the elastomer uses ball hinge connections, then decoupling is achieved, but the natural frequency is not very high
Solution Approach 1:
The patent employs curved or arc-shaped elastic beam designs within the integral elastomer structure, replacing straight rigid connections. This curvature provides flexible decoupling functionality while increasing structural stiffness, thereby raising the natural frequency of the sensor.
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 precision, dynamic testing capabilities, and reduced system errors with simplified structure and assembly, suitable for industrial use, while maintaining high strength and natural frequency.
Implementation Method 1
the eight first elastic beams and the four second elastic beams are respectively attached with a plurality of strain gauges, thus forming full bridge circuits
Data Source
AI summary
A small six-dimensional force and torque sensor, includes a cylindrical housing, a base disposed on the inner wall of the cylindrical housing, eight first elastic beams of the same size and structure for connecting the base, a central boss disposed at the center of the cylindrical housing, four second elastic beams of the same size and structure for connecting the central boss with the first elastic beams. The four second elastic beams are arranged in a cross shape. The eight first elastic beams and the four second elastic beams are respectively attached with a plurality of strain gauges, thus forming full bridge circuits. The sensor is simple in structure, small in size, can realize self-decoupling of the structure in six directions, and is suitable to be used in combination with current industrial systems.