Swastika-Shaped Beam Six-Dimensional Force Sensor
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Solution Overview
Problem
Existing six-dimensional force sensors face challenges in achieving high sensitivity while minimizing inter-dimensional coupling, with current structures either suffering from high inter-dimensional coupling or being difficult to machine and maintain.
Innovation Solution
A six-dimensional force sensor design featuring a clockwise or counterclockwise swastika-shaped beam structure combined with vertical beams and strain gauges, forming Wheatstone bridges to measure forces and moments with reduced inter-dimensional coupling and increased sensitivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a vertical beam structure is used, then inter-dimensional coupling is reduced, but machining difficulty and error introduction increase
Solution Approach 1:
The patent employs an asymmetric L-shaped beam structure instead of traditional symmetric vertical or transverse beam configurations. This asymmetric design achieves low inter-dimensional coupling while maintaining machining feasibility, as the L-shape can be manufactured with standard machining processes without requiring the extreme precision of narrow, long vertical beams.
Solution Approach 2:
The patent inverts the traditional approach by placing strain gauges on the L-shaped beam in a configuration that directly measures coupling effects rather than trying to eliminate them through complex structural design. The strain gauge arrangement captures inter-dimensional coupling signals that are then processed to achieve decoupling, reversing the conventional strategy of structural prevention.
2Ease of manufacture
If a transverse beam structure is used, then machining ease is improved, but inter-dimensional coupling increases
Solution Approach 1:
The L-shaped beam introduces asymmetry that breaks the symmetry of traditional transverse beam structures, thereby reducing inter-dimensional coupling while maintaining the machining advantages of transverse beams. The asymmetric geometry creates distinct measurement paths for different force components.
Solution Approach 2:
The L-shaped beam can be viewed as segmented into two perpendicular segments, allowing independent optimization of each segment's function while maintaining overall structural simplicity and ease of manufacture.
3Measurement precision
If cylindrical structure with cross beam is used, then inter-dimensional coupling is reduced, but sensitivity decreases
Solution Approach 1:
The patent extracts the essential coupling-reduction function from the complex cylindrical-cross beam structure and implements it through a simpler L-shaped beam with strategically placed strain gauges, maintaining sensitivity by directly measuring strain at critical locations.
Solution Approach 2:
The patent replaces the mechanical coupling-reduction mechanism of the cylindrical structure with an electrical/measurement-based solution using strain gauges arranged to detect and differentiate force components, achieving coupling reduction through signal processing rather than structural complexity.
4Measurement precision
If double-layer cross beam structure is used, then inter-dimensional coupling is reduced, but manufacturing complexity increases
Solution Approach 1:
The L-shaped beam serves as a single integrated segment that achieves coupling reduction without requiring multiple layers or complex assembly, simplifying manufacturing while maintaining measurement precision.
Solution Approach 2:
The patent merges the functions of multiple beam layers into a single L-shaped beam structure with integrated strain gauge measurements, eliminating the need for complex multi-layer assembly while achieving the same coupling reduction effect.
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 achieves high sensitivity and low inter-dimensional coupling, simplifying the machining and strain gauge placement process, resulting in improved measurement accuracy and ease of use.
Implementation Method 1
A six-dimensional force sensor based on a principle of resistance strain is currently most widely applied. The sensor is subject to a force to generate strain and the strain is converted into voltage change by using a strain gauge
Data Source
AI summary
The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.