CN1092329C - Parallel decoupling structure six-dimensional force and moment sensor - Google Patents
Parallel decoupling structure six-dimensional force and moment sensor Download PDFInfo
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- CN1092329C CN1092329C CN 99119320 CN99119320A CN1092329C CN 1092329 C CN1092329 C CN 1092329C CN 99119320 CN99119320 CN 99119320 CN 99119320 A CN99119320 A CN 99119320A CN 1092329 C CN1092329 C CN 1092329C
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Abstract
The present invention belongs to the field of a robot force and moment sensor. The present invention has the key point that a force sensitive element is formed by connecting a platform 1, a platform 3, 6 elastic bodies 2 and 12 elastic hinges 4, wherein the 6 elastic bodies are divided into three groups; two elastic bodies at each group are respectively arranged along three mutually perpendicular directions, and planes formed the axial lines of the elastic bodies at each group are mutually perpendicular so that six-dimensional force is decoupled from moment on a structure. The force sensitive element is a non-assembled element processed and moulded once. The sensor has the advantages of small size, low manufacture cost, high rigidity, small errors, high sensitivity, simple algorithms, force and moment decoupling, etc. The present invention can be applied to occasions of robot wrists, fingers and other six-dimensional force and moment sensors.
Description
The invention belongs to Robot Force and torque sensor field.
Sensor is to make robot have the important means of " sense of touch ", " power feel ", and in sensor research, the structural design of force sensing element is the core key issue.
Foreign scholar Cole (kerr) and slave propose and have studied Stewart (Stewart) structure six-dimension force transducer because of (Nguyen) and Fa Ruixi people such as (Ferraresl), but because they are with the kinematic pair of real ball pivot as force transducer, thereby limited its range of application, be difficult on robot wrist and the finger.Domestic also have some scholar's research six-dimension force sensors, and have multiple about patented technology, for example: six degree of freedom power and torque sensor (Chinese patent: CN2165435Y), robot is with sextuple power and torque sensor (Chinese patent: CN2066134U), (number of patent application: 99102421.4), but the subject matter that these technology exist is the complex structure that has for a kind of sextuple power with elastic hinge and torque sensor, the size that has is big, the rigidity that has is low, the demarcation difficulty that has, the sensitivity that has is low, the manufacturing cost height that has, power decoupling zero difficulty that has or the like.And the force transducer of domestic research mostly adopts external existing structure.
This invention purpose is to design a kind of new sextuple power and torque sensor, this power and torque sensor have advantages such as structure dexterity, low cost of manufacture, good rigidity, little, the highly sensitive particularly power of error and moment decoupling zero, can be applicable to the robot wrist, especially point in last and other occasion.
This parallel decoupling structure six-dimensional force and torque sensor, comprise force sensitive element, foil gauge 5 compositions, it is characterized in that: force sensitive element is that the 1st platform the 1, the 2nd platform 3, six elastic bodys 2 are connected with 12 elastic hinges 4 and form, six elastic bodys divide three groups, arrange along three orthogonal directions respectively for every group two, and the plane of respectively organizing elastic body axis formation is orthogonal, realizes sextuple power and moment decoupling zero from structure; Force sensitive element is the non-assembly of time processing moulding, pastes foil gauge 5 on the elastic body 2, and the lead-in wire of foil gauge 5 can extract from the hole of platform.
Drawings and Examples
Fig. 1 is parallel decoupling structure six-dimensional force and torque sensor synoptic diagram
Accompanying drawing 1 is one embodiment of the present of invention.In Fig. 1, force sensitive element is to be connected with 12 elastic hinges 4 and to be formed by the 1st platform the 1, the 2nd platform 3, six elastic bodys 2.Six elastic bodys are divided into three groups, and two the every group planes of arranging, and respectively organize elastic body axis formation respectively along three orthogonal directions are orthogonal.Force sensitive element is the non-assembly of time processing moulding, pastes foil gauge 5 on the elastic body 2, and the lead-in wire of foil gauge 5 can extract from the hole of platform 3.
This sextuple power and torque sensor based on the structure of parallel institution, adopt elastic hinge to substitute ball pivot, have realized the purpose of non-package assembly of force sensitive element and structure miniization; The plane of 3 groups of elastic body axis formations is orthogonal, and algorithm is simplified, and power and moment decoupling zero are easy.The sextuple power of this novelty and torque sensor can be widely used among the occasion of robot wrist, finger and other power and torque sensor.
Claims (1)
1, a kind of parallel decoupling structure six-dimensional force and torque sensor, comprise force sensitive element, foil gauge (5) is formed, it is characterized in that: force sensitive element is by the 1st platform (1), the 2nd platform (3), six elastic bodys (2) are connected with 12 elastic hinges (4) and form, six elastic bodys are divided into three groups, arrange along three orthogonal directions respectively for every group two, and the plane of respectively organizing elastic body axis formation is orthogonal, force sensitive element is the non-assembly of time processing moulding, elastic body (2) is gone up and is pasted foil gauge (5), and the lead-in wire of foil gauge (5) can extract from the hole of platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99119320 CN1092329C (en) | 1999-09-09 | 1999-09-09 | Parallel decoupling structure six-dimensional force and moment sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99119320 CN1092329C (en) | 1999-09-09 | 1999-09-09 | Parallel decoupling structure six-dimensional force and moment sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1267822A CN1267822A (en) | 2000-09-27 |
| CN1092329C true CN1092329C (en) | 2002-10-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 99119320 Expired - Fee Related CN1092329C (en) | 1999-09-09 | 1999-09-09 | Parallel decoupling structure six-dimensional force and moment sensor |
Country Status (1)
| Country | Link |
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| CN (1) | CN1092329C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108072465A (en) * | 2017-11-20 | 2018-05-25 | 北京航空航天大学 | A kind of three-dimensional force sensor with decoupling-structure |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100387952C (en) * | 2006-04-18 | 2008-05-14 | 燕山大学 | Parellel 6-UPUR hexa-dimensional force-measuring platform |
| CN105352647A (en) * | 2015-10-22 | 2016-02-24 | 哈尔滨工业大学 | Robot tail end twelve-dimension sensor and design method therefor |
| CN107632170A (en) * | 2017-10-25 | 2018-01-26 | 中国地质大学（武汉） | A kind of drilling well three dimension acceleration sensor based on redundancy parallel mechanism |
| CN109079826A (en) * | 2018-10-12 | 2018-12-25 | 中国石油大学(华东) | A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot |
| CN112611497B (en) * | 2019-09-18 | 2022-01-28 | 马洪文 | Multi-dimensional force sensor structure of parallel rod system |
| CN113739975B (en) * | 2021-08-27 | 2022-11-25 | 南京航空航天大学 | Structure decoupling six-dimensional force sensor |
-
1999
- 1999-09-09 CN CN 99119320 patent/CN1092329C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108072465A (en) * | 2017-11-20 | 2018-05-25 | 北京航空航天大学 | A kind of three-dimensional force sensor with decoupling-structure |
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| Publication number | Publication date |
|---|---|
| CN1267822A (en) | 2000-09-27 |
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