CN109238530A - A kind of pieces of cloth measurement method of six-dimension force sensor - Google Patents
A kind of pieces of cloth measurement method of six-dimension force sensor Download PDFInfo
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- CN109238530A CN109238530A CN201811372173.0A CN201811372173A CN109238530A CN 109238530 A CN109238530 A CN 109238530A CN 201811372173 A CN201811372173 A CN 201811372173A CN 109238530 A CN109238530 A CN 109238530A
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- foil gauge
- radial girders
- hole
- radial
- floating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Force In General (AREA)
Abstract
It is to be supported with circumferential as outer ring using zone center as inner ring, form inner and outer ring support construction the invention discloses a kind of pieces of cloth measurement method of six-dimension force sensor；The inner end of radial girders is connected to the middle part of floating beam, constitutes T-shape girder construction；Radial girders in four groups of T-shape beams are distributed in the periphery of zone center in " ten " word, and the outer end of each radial girders is connected in circumferential support, are connected to form zone center annular in shape between adjacent two sections of floating beams；Each through-hole and foil gauge is arranged in the present invention in radial girders and floating beam, realizes structure decoupling, can realize that six-dimensional force measures with favour stone full-bridge circuit, and power between dimension can effectively be avoided to interfere with each other.
Description
Technical field
The invention belongs to sensor technical fields, more specifically can be used for measuring the cloth of the sensor of six-dimensional space power
Piece measurement method.
Background technique
Multi-dimension force sensor is the important information source that robot obtains the active force between environment.Existing various aspects at present
Multi-dimension force sensor research, such as the Waston multi-dimension force sensor of U.S.'s DraPer Research Institute, Chinese Academy of Sciences's Hefei intelligence
Can institute and Southeast China University's joint research and development SAFMS type multi-dimension force sensor, based on the multi-dimension force sensor of Stewart platform, Huang
The HUST FS6 type multi-dimension force sensor of heart Chinese professor research, the second level parallel-connection structure of German Dr.R.Seitner company design
Type six-dimension force sensor etc..A large amount of research is done to multi-dimension force sensor both at home and abroad, designed multi-dimension force sensor is more
Kind multiplicity, the advantage and disadvantage having nothing in common with each other and application, but decoupling, rigidity and the contradiction of sensitivity etc. of multi-dimension force sensor are asked
Topic also needs further to be studied.
For more complicated space-load situation, sensor needs to measure the power of multiple directions, currently, generally using six
Dimensional force sensor realizes the measurement of multi-direction power.But the spring beam of existing six-dimension force sensor is solid girder construction, causes to pass
The problem of sensor sensitivity is low, retinoic acid syndrome is big, precision is low etc.；When such elastomer stress, what is generated on each spring beam is answered
Become approximate linear distribution, so that strain can not concentrate on the position of strain gauge adhesion.
Summary of the invention
The present invention is to provide a kind of 6 DOF for realizing structure decoupling to avoid above-mentioned existing deficiencies in the technology
The pieces of cloth measurement method of force snesor, by the way that girder construction, and reasonable layout foil gauge is rationally arranged, with favour stone full-bridge electricity
Road realizes six-dimensional force measurement, power between dimension is avoided to interfere with each other, improves measurement accuracy.
The present invention adopts the following technical scheme that in order to solve the technical problem
The characteristics of pieces of cloth measurement method of six-dimension force sensor of the present invention, is:
It is supported using zone center as inner ring, with circumferential as outer ring, forms inner and outer ring support construction；The inner end of radial girders is connected to
The middle part of floating beam constitutes T-shape girder construction；Radial girders in four groups of T-shape beams are distributed in the periphery of zone center in " ten " word,
The outer end of each radial girders is connected in circumferential support, is connected to form between adjacent two sections of floating beams using link block annular in shape
Zone center；
Each through-hole and foil gauge are set by following form in the radial girders and floating beam:
On each section of floating beam, the through-hole is the vertical floating beam through-hole for penetrating through the upper and lower surfaces of floating beam,
Two vertical floating beam through-holes in each section of floating beam are the both ends that floating beam is arranged symmetrically in using radial girders as central axes, described
Foil gauge is the floating beam foil gauge being pasted on symmetrical two lateral surfaces of each vertical floating beam through-hole；
In the radial girders, the through-hole is the transverse radial beam through-hole that the inner end of each section of radial girders is arranged in, and is set
Set the vertical radial girders through-hole in the outer end of each section of radial girders；
Definition: two-section radial beam at any one group on the same line is X to beam, at another group on the same line
Two-section radial beam is Y-direction beam, and X transverse radial beam through-hole on beam is X to beam cross through hole, transverse radial beam through-hole on Y-direction beam
For Y-direction beam cross through hole, vertical radial girders through-hole of the X on beam is X to beam vertical through holes, and the vertical radial girders on Y-direction beam are logical
Hole is Y-direction beam vertical through holes；The foil gauge being arranged in the radial girders includes:
X of each X on symmetrical two lateral surfaces of beam vertical through holes is affixed on to beam vertical core foil gauge；Or: it is affixed on each Y
Y-direction beam vertical core foil gauge on symmetrical two lateral surfaces of beam vertical through holes；
Each X is affixed on to symmetrical two lateral surfaces of beam cross through hole and each Y-direction beam cross through hole and close to zone center institute
Each radial girders cross-drilled hole inner end foil gauge in side；
Each X is affixed on to the symmetrical upper and lower surfaces of beam cross through hole and each Y-direction beam cross through hole and close to circumferential
Support each radial girders cross-drilled hole outer end foil gauge of side.
The characteristics of pieces of cloth measurement method of six-dimension force sensor of the present invention lies also in: establish cartesian coordinate system: coordinate is former
Point centered on platform central point, vertically for Z axis to；The radial girders for being in X-axis positive direction are the first radial girders, with the first radial girders
The floating beam being connected is the first floating beam；The radial girders being in Y-axis positive direction are the second radial girders, with the second radial girders phase
The floating beam of connection is the second floating beam；The radial girders being in X-axis negative direction are third radial girders, are connected with third radial girders
The floating beam connect is third floating beam；The radial girders being in Y-axis negative direction are the 4th radial girders, are connected with the 4th radial girders
Floating beam be the 4th floating beam；
Each floating beam foil gauge is respectively:
Foil gauge R13, R13 ', R14 and R14 ' on first floating beam；
Foil gauge R21, R21 ', R22 and R22 ' on second floating beam；
Foil gauge R11, R11 ', R12 and R12 ' on third floating beam；
Foil gauge R23, R23 ', R24 and R24 ' on 4th floating beam；
Described foil gauge R13, R14, R21, R22, R11, R12, R23 and R24 are in remote in vertical floating beam through-hole (5)
Center side from zone center, foil gauge R13 ', R14 ', R21 ', R22 ', R11 ', R12 ', R23 ' and R24 ' are in vertical floating
Close to the center side of zone center in beam through-hole；
Utilize described foil gauge R11, R11 ', R12, R12 ', R13, R13 ', R14 and R14 ' composition the first favour stone full-bridge
Circuit, for obtaining the power Fx of X-direction；Utilize described foil gauge R21, R21 ', R22, R22 ', R23, R23 ', R24 and R24 '
The second favour stone full-bridge circuit is constituted, for obtaining the power Fy of Y direction.
The characteristics of pieces of cloth measurement method of six-dimension force sensor of the present invention, lies also in:
Each radial girders cross-drilled hole outer end strain gauge adhesion is in each X to pair of beam cross through hole and each Y-direction beam cross through hole
It is much of surface and lower surface, and is in close to the cross through hole outer end of circumferential support side, is respectively: the first radial girders
Foil gauge R31 and R31 ' on upper foil gauge R32 and R32 ', the second radial girders, foil gauge R34 and R34 ' in third radial girders, with
And the 4th foil gauge R33 and R33 ' in radial girders；
Each radial girders cross-drilled hole inner end strain gauge adhesion is in each X to pair of beam cross through hole and each Y-direction beam cross through hole
It is much of surface and lower surface, and is in close to the cross through hole inner end of zone center side: being respectively: in the first radial girders
Foil gauge R41 and R42 on foil gauge R53 and R52, the second radial girders, foil gauge R51 and R54 and the 4th in third radial girders
Foil gauge R43 and R44 in radial girders；
Described foil gauge R32, R53, R31, R41, R34, R51, R33 and R43 are in the upper surface of radial girders, foil gauge
R32 ', R52, R31 ', R42, R34 ', R54, R33 ' and R44 ' are in the lower surface of radial girders；
Utilize described foil gauge R31, R31 ', R32, R32 ', R33, R33 ', R34 and R34 ' composition third favour stone full-bridge
Circuit, for obtaining the power Fz of Z-direction；The 4th favour stone full-bridge electricity is constituted using described foil gauge R41, R42, R43 and R44
Road, for obtaining the torque Mx of X-direction；The 5th favour stone full-bridge electricity is constituted using described foil gauge R51, R52, R53 and R54
Road, for obtaining the torque My of Y direction.
The characteristics of pieces of cloth measurement method of six-dimension force sensor of the present invention, lies also in:, can for the torque Mz for obtaining Z-direction
To be that the X is respectively as follows: in the first radial girders in foil gauge R63 and R64 and third radial girders to beam vertical core foil gauge and strains
Piece R61 and R62, described foil gauge R63, R64, R61 and R62 are in X and support institute at one end to the close circumferential direction of beam vertical core；It utilizes
Described foil gauge R61, R62, R63 and R64 constitute the 6th favour stone full-bridge circuit, for obtaining the torque Mz of Z-direction.
The characteristics of pieces of cloth measurement method of six-dimension force sensor of the present invention, lies also in: for obtain Z-direction torque Mz,
It can be the Y-direction beam vertical core foil gauge to be respectively as follows: in the second radial girders in foil gauge R63 ' and R64 ' and the 4th radial girders
Foil gauge R61 ' and R62 '；The external Y-direction beam vertical core of the foil gauge R63 ', R64 ', R61 ' and R62 ' is close to circumferential support institute
At one end, using the foil gauge R61 ', the 6th favour stone full-bridge circuit of R62 ', R63 ' and R64 ' composition, for obtaining Z axis side
To torque Mz.
Compared with the prior art, the invention has the advantages that:
1, the present invention realizes structure decoupling, for the structure type of spring beam in the present invention, in radial girders and can float
Foil gauge is pasted on the different location of dynamic beam, according to force snesor principle, with favour stone full-bridge circuit, realizes that six-dimensional force is surveyed
Amount, and power between dimension can effectively be avoided to interfere with each other；
2, the foil gauge for being used to obtain power Fz is placed in radial girders cross-drilled hole outer end in the present invention, for obtaining torque Mx, My
Foil gauge be placed in radial girders cross-drilled hole inner end, can while guaranteeing resolving power that Fz measure to power raising torque Mx, My
The resolving power of measurement.
3, the through-hole opened up in each radial girders and floating beam in the present invention makes strain concentrate on surveyed region, vertical diameter
It can guarantee the rigidity of sensor while obtaining higher detection sensitivity to the close circumferential support setting of beam through-hole；
4, the present invention can overall processing, reduce repeatability error, structure is simple, easy to process.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 1 a is specific embodiment of the invention structural schematic diagram；
Fig. 2 be the present invention in each foil gauge radial girders and floating beam upper surface distribution schematic diagram；
Fig. 3 be the present invention in each foil gauge radial girders and floating beam lower surface distribution schematic diagram；
Fig. 4 is another structure type schematic diagram of the present invention；
Figure label: 1 zone center, 2 radial girders, 3 floating beams, 4 circumferential supports, 5 vertical floating beam through-holes, 6 transverse radials
Beam through-hole, 7 vertical radial girders through-holes, 8 location holes.
Specific embodiment
Referring to Fig. 1, Fig. 1 a and Fig. 4, the pieces of cloth measurement method of six-dimension force sensor is in the present embodiment:
It is inner ring that setting six-dimension force sensor, which is with zone center 1, supports 4 with circumferential as outer ring, forms inner and outer ring support and ties
Structure；The inner end of radial girders 2 is connected to the middle part of floating beam 3, constitutes T-shape girder construction；Radial girders 2 in four groups of T-shape beams exist
The periphery of zone center 1 is distributed in " ten " word, and the outer end of each radial girders 2 is connected in circumferential support 4, adjacent two sections of floating beams 3 it
Between zone center 1 annular in shape is connected to form using link block；In order to carry out location and installation, in circumferentially support and each link block
It is respectively arranged with location hole 8.
In the present embodiment, each through-hole and foil gauge are set by following form in radial girders 2 and floating beam 3:
As shown in Figure 1 and Figure 4, on each section of floating beam 3, through-hole is the perpendicular of the upper and lower surfaces of perforation floating beam 3
To floating beam through-hole 5, two vertical floating beam through-holes 5 in each section of floating beam 3 are to be arranged symmetrically in radial girders 2 for central axes
The both ends of floating beam 3, foil gauge are that the floating beam being pasted on symmetrical two lateral surfaces of every vertical floating beam through-hole 5 is answered
Change piece, floating beam foil gauge totally 16；In radial girders 2, through-hole is the transverse radial beam that the inner end of each section of radial girders 2 is arranged in
The vertical radial girders through-hole 7 of through-hole 6 and the outer end that each section of radial girders 2 are set.
As shown in Figure 3 and Figure 4, define: two-section radial beam 2 at any one group on the same line is X to beam, another group
Place's two-section radial beam 2 on the same line is Y-direction beam, and X transverse radial beam through-hole 6 on beam is X to beam cross through hole, Y-direction
Transverse radial beam through-hole 6 is Y-direction beam cross through hole on beam, and vertical radial girders through-hole 7 of the X on beam is X to beam vertical through holes, Y
Vertical radial girders through-hole 7 on beam is Y-direction beam vertical through holes；The foil gauge being arranged in radial girders 2 includes:
X of each X on symmetrical two lateral surfaces of beam vertical through holes is affixed on to beam vertical core foil gauge, X is answered to beam vertical core
Become piece totally four；Or: the Y-direction beam vertical core foil gauge being affixed on symmetrical two lateral surfaces of each Y-direction beam vertical through holes, Y-direction
Beam vertical core foil gauge totally four.
Each X is affixed on to symmetrical two lateral surfaces of beam cross through hole and each Y-direction beam cross through hole and close to zone center 1
Each radial girders cross-drilled hole inner end foil gauge of side, radial girders cross-drilled hole inner end foil gauge totally eight.
Each X is affixed on to the symmetrical upper and lower surfaces of beam cross through hole and each Y-direction beam cross through hole and close to circumferential
Support each radial girders cross-drilled hole outer end foil gauge of 4 side, radial girders cross-drilled hole outer end foil gauge totally eight.
In specific implementation, establish cartesian coordinate system: the central point of platform 1 centered on coordinate origin, vertically for Z axis to；And
Have:
The radial girders for being in X-axis positive direction are the first radial girders a, and the floating beam being connected with the first radial girders a is first
Floating beam a '；Being in radial girders in Y-axis positive direction is the second radial girders b, and the floating beam being connected with the second radial girders b is the
Two floating beam b '；The radial girders being in X-axis negative direction are third radial girders c, are with the third radial girders c floating beam being connected
Third floating beam c '；The radial girders being in Y-axis negative direction are the 4th radial girders d, the floating beam being connected with the 4th radial girders d
For the 4th floating beam d '；
Each floating beam foil gauge is respectively: the first floating beam a ' goes up foil gauge R13, R13 ', R14 and R14 '；Second floats
Beam b ' goes up foil gauge R21, R21 ', R22 and R22 '；Third floating beam c ' goes up foil gauge R11, R11 ', R12 and R12 '；4th is floating
Dynamic beam d ' goes up foil gauge R23, R23 ', R24 and R24 '；Wherein, foil gauge R13, R14, R21, R22, R11, R12, R23 and R24
Be in the center side of the separate zone center 1 in vertical floating beam through-hole 5, foil gauge R13 ', R14 ', R21 ', R22 ', R11 ',
R12 ', R23 ' and R24 ' are in the center side in vertical floating beam through-hole 5 close to zone center 1；Using foil gauge R11, R11 ',
R12, R12 ', R13, R13 ', R14 and R14 ' composition the first favour stone full-bridge circuit, for obtaining the power Fx of X-direction；It utilizes
Foil gauge R21, R21 ', R22, R22 ', R23, R23 ', R24 and R24 ' composition the second favour stone full-bridge circuit, for obtaining Y-axis
The power Fy in direction.
In specific implementation, each radial girders cross-drilled hole outer end strain gauge adhesion is laterally logical to beam cross through hole and each Y-direction beam in each X
The symmetrical upper and lower surfaces in hole, and be in close to the cross through hole outer end of 4 side of circumferential support, it is respectively: the
Foil gauge on foil gauge R31 and R31 ', third radial girders c on foil gauge R32 and R32 ', the second radial girders b on one radial girders a
Foil gauge R33 and R33 ' on R34 and R34 ' and the 4th radial girders a；Each radial girders cross-drilled hole inner end strain gauge adhesion each X to
The symmetrical upper and lower surfaces of beam cross through hole and each Y-direction beam cross through hole, and be in close to 1 side of zone center
Cross through hole inner end: be respectively: foil gauge R53 and R52 on the first radial girders a, foil gauge R41 and R42 on the second radial girders b,
Foil gauge R43 and R44 on foil gauge R51 and R54 and the 4th radial girders a on third radial girders c；Wherein, foil gauge R32,
R53, R31, R41, R34, R51, R33 and R43 are in the upper surface of radial girders, foil gauge R32 ', R52, R31 ', R42, R34 ',
R54, R33 ' and R44 ' are in the lower surface of radial girders；Using foil gauge R31, R31 ', R32, R32 ', R33, R33 ', R34 and
R34 ' composition third favour stone full-bridge circuit, for obtaining the power Fz of Z-direction；Utilize foil gauge R41, R42, R43 and R44 structure
At the 4th favour stone full-bridge circuit, for obtaining the torque Mx of X-direction；The is constituted using foil gauge R51, R52, R53 and R54
Five favour stone full-bridge circuits, for obtaining the torque My of Y direction；
For the torque Mz for obtaining Z-direction, X is arranged to beam vertical core foil gauge are as follows: foil gauge R63 on the first radial girders a
And foil gauge R61 and R62, foil gauge R63, R64, R61 and R62 are in X and lean on to beam vertical core on R64 and third radial girders c
Nearly 4 institute of circumferential support is at one end；The 6th favour stone full-bridge circuit is constituted using foil gauge R61, R62, R63 and R64, is obtained with this
The torque Mz of Z-direction.
In order to obtain the torque Mz of Z-direction, it is also possible to for Y-direction beam vertical core foil gauge being arranged are as follows: on the second radial girders b
Foil gauge R61 ' and R62 ' on foil gauge R63 ' and R64 ' and the 4th radial girders c；Foil gauge R63 ', R64 ', R61 ' and R62 '
External Y-direction beam vertical core at one end, utilizes foil gauge R61 ', the 6th favour of R62 ', R63 ' and R64 ' composition close to circumferential 4 institute of support
Stone full-bridge circuit obtains the torque Mz of Z-direction with this.
Shown in Fig. 4, cylindrical body is set by circumferential support 4, different applications is adapted in the form of its cylindrical body.
The present invention opens up through-hole on floating beam, while realizing floating beam action, for other direction force or
The measurement of torque influences smaller；When loading the active force of Fx, stress concentrates on the two sides in hole, and Y-direction strain at this time is larger, because
This pastes the foil gauge of measurement Y-direction strain on corresponding position, can accurately measure the size of loading force；As load Fy
Active force when, principle is identical as the load active force of Fx, and stress concentrates on the two sides in hole, and X at this time is larger to straining, because
This pastes measurement foil gauge of the X to strain on corresponding position；When loading the active force of Fz, foil gauge is arranged in radial girders
Upper and lower surfaces are punched in radial girders, are deformed beam and are concentrated；And in radial girders measure Fz when be measurement X to or Y
To strain, therefore, herein punch direction be the cross through hole opened up along Y-axis or X axis, cross through hole upper surface and under
Paste foil gauge in surface；When loading the torque of Mx, foil gauge is arranged in the upper and lower surfaces of radial girders, measuring principle with plus
The active force for carrying Fz is identical, and in radial girders when measurement Mx torque is the strain for measuring Y-direction, the upper table of cross-drilled hole in corresponding position
The foil gauge for surveying Y-direction strain is pasted in face and lower surface；When loading the torque of My, the torque phase of measuring principle and load Mx
Together, be when measuring My torque unlike in radial girders measure X to strain, the upper surface of the cross-drilled hole of corresponding position and following table
Face paste, which has, surveys foil gauge of the X to strain；When loading the torque of Mz, the deformation of radial girders mainly becomes in the bending of its side
Shape, foil gauge is arranged in the side of radial girders, to concentrate stress, along Z axis to vertical hole is beaten in radial girders, in vertical hole
Paste the foil gauge of measurement X or Y-direction strain in two sides.
Structural I-beam is arranged in the present invention, improves dynamic property while increasing sensor rigidity；It is beaten in radial girders
Hole improves the sensitivity of sensor measurement；Through-hole is set in each radial girders and floating beam, when applying load, strain collection
In in through-hole two sides, foil gauge is pasted in the position that strain is concentrated, wherein strain caused by measurement applied force Fx, Fy and Fz
When, use 8 foil gauges respectively to use 4 foil gauges when straining caused by measurement application torque Mx, My, Mz, amount to respectively
36 foil gauges.Foil gauge is arranged symmetrically in the two sides of each through-hole；And by reasonable full-bridge circuit catenation principle, realizes and pass
The theoretic decoupling of sensor, while the sensor may make to obtain higher resolution ratio.
Claims (5)
1. a kind of pieces of cloth measurement method of six-dimension force sensor, it is characterized in that:
With zone center (1) be inner ring, with circumferential support (4) for outer ring, formed inner and outer ring support construction；The inner end of radial girders (2)
It is connected to the middle part of floating beam (3), constitutes T-shape girder construction；Radial girders (2) in four groups of T-shape beams are in the outer of zone center (1)
It encloses and is distributed in " ten " word, the outer end of each radial girders (2) is connected on circumferential support (4), utilizes between adjacent two sections of floating beams (3)
Link block is connected to form zone center annular in shape (1)；
Each through-hole and foil gauge are set by following form in the radial girders (2) and floating beam (3):
On each section of floating beam (3), the through-hole is the vertical floating beam through-hole for penetrating through the upper and lower surfaces of floating beam (3)
(5), it is that central axes are arranged symmetrically in floating that two vertical floating beam through-holes (5) in each section of floating beam (3), which are with radial girders (2),
The both ends of beam (3), the foil gauge are the floatings being pasted on symmetrical two lateral surfaces of each vertical floating beam through-hole (5)
Beam foil gauge；
On the radial girders (2), the through-hole is transverse radial beam through-hole (6) of the setting in the inner end of each section of radial girders (2),
Vertical radial girders through-hole (7) with setting in the outer end of each section of radial girders (2)；
Definition: two-section radial beam (2) at any one group on the same line is X to beam, at another group on the same line
Two-section radial beam (2) is Y-direction beam, and X transverse radial beam through-hole (6) on beam is X to beam cross through hole, transverse radial on Y-direction beam
Beam through-hole (6) is Y-direction beam cross through hole, and vertical radial girders through-hole (7) of the X on beam is X to beam vertical through holes, on Y-direction beam
Vertical radial girders through-hole (7) is Y-direction beam vertical through holes；The foil gauge being arranged on the radial girders (2) includes:
X of each X on symmetrical two lateral surfaces of beam vertical through holes is affixed on to beam vertical core foil gauge；Or: it is affixed on each Y-direction beam
Y-direction beam vertical core foil gauge on symmetrical two lateral surfaces of vertical through holes；
Each X is affixed on to symmetrical two lateral surfaces of beam cross through hole and each Y-direction beam cross through hole and close to zone center (1) institute
Each radial girders cross-drilled hole inner end foil gauge in side；
Each X is affixed on to the symmetrical upper and lower surfaces of beam cross through hole and each Y-direction beam cross through hole and close to circumferential support
(4) each radial girders cross-drilled hole outer end foil gauge of side.
2. the pieces of cloth measurement method of six-dimension force sensor according to claim 1, it is characterized in that:
Establish cartesian coordinate system: the central point of platform (1) centered on coordinate origin, vertically for Z axis to；
The radial girders for being in X-axis positive direction are the first radial girders (a), and the floating beam being connected with the first radial girders (a) is first
Floating beam (a ')；The radial girders being in Y-axis positive direction are the second radial girders (b), the floating being connected with the second radial girders (b)
Beam is the second floating beam (b ')；The radial girders being in X-axis negative direction are third radial girders (c), are connected with third radial girders (c)
The floating beam connect is third floating beam (c ')；The radial girders being in Y-axis negative direction are the 4th radial girders (d), radial with the 4th
The floating beam that beam (d) is connected is the 4th floating beam (d ')；
Each floating beam foil gauge is respectively:
Foil gauge R13, R13 ', R14 and R14 ' on first floating beam (a ')；
Foil gauge R21, R21 ', R22 and R22 ' on second floating beam (b ')；
Foil gauge R11, R11 ', R12 and R12 ' on third floating beam (c ')；
Foil gauge R23, R23 ', R24 and R24 ' on 4th floating beam (d ')；
Described foil gauge R13, R14, R21, R22, R11, R12, R23 and R24 be in vertical floating beam through-hole (5) far from
The center side of heart platform (1), foil gauge R13 ', R14 ', R21 ', R22 ', R11 ', R12 ', R23 ' and R24 ' are in vertical floating
Close to the center side of zone center (1) in beam through-hole (5)；
Using described foil gauge R11, R11 ', R12, R12 ', R13, R13 ', R14 and R14 ' composition the first favour stone full-bridge circuit,
For obtaining the power Fx of X-direction；
Using described foil gauge R21, R21 ', R22, R22 ', R23, R23 ', R24 and R24 ' composition the second favour stone full-bridge circuit,
For obtaining the power Fy of Y direction.
3. the pieces of cloth measurement method of six-dimension force sensor according to claim 2, it is characterized in that:
Each radial girders cross-drilled hole outer end strain gauge adhesion is in each X to the symmetrical of beam cross through hole and each Y-direction beam cross through hole
Upper and lower surfaces, and be in close to the cross through hole outer end of circumferential support (4) side, it is respectively: the first radial girders
(a) foil gauge R32 and R32 ' on, foil gauge R31 and R31 ' in the second radial girders (b), foil gauge R34 in third radial girders (c)
With foil gauge R33 and R33 ' on R34 ' and the 4th radial girders (a)；
Each radial girders cross-drilled hole inner end strain gauge adhesion is in each X to the symmetrical of beam cross through hole and each Y-direction beam cross through hole
Upper and lower surfaces, and be in close to the cross through hole inner end of zone center (1) side, it is respectively: the first radial girders (a)
Foil gauge R41 and R42 on upper foil gauge R53 and R52, the second radial girders (b), foil gauge R51 and R54 in third radial girders (c),
And the 4th foil gauge R43 and R44 in radial girders (a)；
Described foil gauge R32, R53, R31, R41, R34, R51, R33 and R43 are in the upper surface of radial girders, foil gauge R32 ',
R52, R31 ', R42, R34 ', R54, R33 ' and R44 ' are in the lower surface of radial girders；
Using described foil gauge R31, R31 ', R32, R32 ', R33, R33 ', R34 and R34 ' composition third favour stone full-bridge circuit,
For obtaining the power Fz of Z-direction；The 4th favour stone full-bridge circuit is constituted using described foil gauge R41, R42, R43 and R44, is used
To obtain the torque Mx of X-direction；The 5th favour stone full-bridge circuit is constituted using described foil gauge R51, R52, R53 and R54, is used
To obtain the torque My of Y direction.
4. the pieces of cloth measurement method of six-dimension force sensor according to claim 2, it is characterized in that: the X is answered to beam vertical core
Becoming piece is respectively: foil gauge R61 and R62, institute in foil gauge R63 and R64 and third radial girders (c) in the first radial girders (a)
It states foil gauge R63, R64, R61 and R62 and is in X to close circumferential support (4) institute of beam vertical core at one end；Utilize the foil gauge
R61, R62, R63 and R64 constitute the 6th favour stone full-bridge circuit, for obtaining the torque Mz of Z-direction.
5. the pieces of cloth measurement method of six-dimension force sensor according to claim 2, it is characterized in that: the Y-direction beam vertical core is answered
Becoming piece is respectively: in the second radial girders (b) in foil gauge R63 ' and R64 ' and the 4th radial girders (c) foil gauge R61 ' and
R62′；The external Y-direction beam vertical core of the foil gauge R63 ', R64 ', R61 ' and R62 ' supports (4) institute at one end close to circumferential, benefit
With the foil gauge R61 ', the 6th favour stone full-bridge circuit of R62 ', R63 ' and R64 ' composition, for obtaining the torque of Z-direction
Mz。
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