CN1092329C - Parallel decoupling structure six-dimensional force and moment sensor - Google Patents

Abstract

The invention belongs to the field of robot force and torque sensors. The gist of the present invention is that the force sensitive element is formed by connecting the first platform (1), the second platform (3), six elastic bodies (2) and twelve elastic hinges (4). There are three groups, two of each group are arranged along three mutually perpendicular directions, and the planes formed by the axes of the elastic bodies of each group are perpendicular to each other, and the six-dimensional force and moment decoupling is realized structurally. The force sensitive element is a non-assembled part that is processed and formed at one time. This sensor has the advantages of small size, low manufacturing cost, good rigidity, small error, high sensitivity, simple algorithm, decoupling force and torque, etc., and can be applied to robot wrists, fingers and other six-dimensional force and torque sensors. middle.

Description

Parallel decoupling structure six-dimensional force and torque sensor

The invention belongs to the field of robot force and torque sensors.

Sensors are an important means to enable robots to have "tactile" and "force sense", and in sensor research, the structural design of force-sensitive components is the core key issue.

Foreign scholars Kerr, Nguyen, and Ferraresl proposed and studied the six-dimensional force sensor of the Stewart structure, but because they used a real spherical hinge as the force sensor kinematic pair, which limits its scope of application, it is difficult to be used on robot wrists and fingers. There are also some scholars in China who study six-dimensional force sensors, and have various related patent technologies, such as: six-degree-of-freedom force and torque sensor (Chinese patent: CN2165435Y), robot with six-dimensional force and torque sensor (Chinese patent: CN2066134U), a A six-dimensional force and torque sensor with elastic hinges (patent application number: 99102421.4), but the main problems of these technologies are that some have complex structures, some have large sizes, some have low stiffness, some are difficult to calibrate, and some have low sensitivity. Low, some have high manufacturing costs, some are difficult to decouple, and so on. Most of the force sensors studied in China adopt the existing foreign structures.

The purpose of this invention is to design a new six-dimensional force and torque sensor. This force and torque sensor has the advantages of smart structure, low manufacturing cost, good stiffness, small error, high sensitivity, especially force and torque decoupling. Applied to robot wrists, especially fingers and other occasions.

This parallel decoupling structure six-dimensional force and moment sensor consists of a force sensitive element and a strain gauge 5. It is characterized in that: the force sensitive element is the first platform 1, the second platform 3, six elastic bodies 2 and twelve The elastic hinges are connected by 4. The six elastic bodies are divided into three groups, and two in each group are arranged along three mutually perpendicular directions, and the planes formed by the axes of the elastic bodies in each group are perpendicular to each other. From the structure, the six-dimensional force and Torque decoupling; the force sensitive element is a non-assembled part processed and formed at one time, the strain gauge 5 is pasted on the elastic body 2, and the lead wire of the strain gauge 5 can be drawn out from the hole of the platform.

Figures and Examples

Figure 1 is a schematic diagram of a six-dimensional force and torque sensor with a parallel decoupling structure

Accompanying drawing 1 is an embodiment of the present invention. In FIG. 1 , the force sensitive element is formed by connecting the first platform 1 , the second platform 3 , six elastic bodies 2 and twelve elastic hinges 4 . The six elastic bodies are divided into three groups, two in each group are respectively arranged along three mutually perpendicular directions, and the planes formed by the axes of the elastic bodies in each group are perpendicular to each other. The force sensitive element is a non-assembled part processed and formed at one time, and the strain gauge 5 is pasted on the elastic body 2, and the lead wire of the strain gauge 5 can be drawn out from the hole of the platform 3 .

This six-dimensional force and torque sensor is based on the structure of the parallel mechanism, and uses elastic hinges instead of spherical hinges to realize the purpose of non-assembled structure and miniaturized structure of force-sensitive elements; the planes formed by the axes of three groups of elastic bodies are perpendicular to each other, The algorithm is simplified, and the decoupling of force and moment is easy. The novel six-dimensional force and torque sensor can be widely used in robot wrists, fingers and other force and torque sensors.

Claims (1)

1. A six-dimensional force and torque sensor with a parallel decoupling structure, comprising a force sensitive element and a strain gauge (5), characterized in that: the force sensitive element consists of a first platform (1), a second platform (3), six One elastic body (2) and twelve elastic hinges (4) are connected, the six elastic bodies are divided into three groups, two of each group are arranged along three mutually perpendicular directions, and the axes of each group of elastic bodies constitute The planes are perpendicular to each other, the force sensitive element is a non-assembled part processed and formed at one time, the strain gauge (5) is pasted on the elastic body (2), and the lead wire of the strain gauge (5) can be drawn out from the hole of the platform.

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