CN111558954A - Force sensor assembly, measuring method, actuator comprising force sensor assembly and robot comprising force sensor assembly - Google Patents
Force sensor assembly, measuring method, actuator comprising force sensor assembly and robot comprising force sensor assembly Download PDFInfo
- Publication number
- CN111558954A CN111558954A CN202010303507.XA CN202010303507A CN111558954A CN 111558954 A CN111558954 A CN 111558954A CN 202010303507 A CN202010303507 A CN 202010303507A CN 111558954 A CN111558954 A CN 111558954A
- Authority
- CN
- China
- Prior art keywords
- force sensor
- sensor assembly
- base
- force
- displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 111
- 238000005259 measurement Methods 0.000 claims abstract description 57
- 230000005489 elastic deformation Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 3
- 239000002131 composite material Substances 0.000 claims description 16
- 229920001971 elastomer Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 7
- 238000009434 installation Methods 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 239000004743 Polypropylene Substances 0.000 description 3
- 229920001155 polypropylene Polymers 0.000 description 3
- -1 Polyethylene Polymers 0.000 description 2
- 239000004698 Polyethylene Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 229920000573 polyethylene Polymers 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 229920002943 EPDM rubber Polymers 0.000 description 1
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000016507 interphase Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 229920003225 polyurethane elastomer Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention provides a force sensor assembly, a measuring method, an actuator comprising the force sensor assembly and a robot comprising the force sensor assembly. Wherein, this force sensor subassembly includes: the device comprises a base, an elastic deformation piece, an end cover and a force sensor; the force sensor includes: the device comprises a grating ruler, a displacement measurement module and a force detection module; the base and the end cover are oppositely arranged by being fixedly connected with the elastic deformation piece; the base, the elastic deformation piece and the end cover are enclosed to form a cavity; at least the grid ruler and the displacement measuring module are positioned in the cavity; one of the grid ruler and the displacement measuring module is fixed on the end cover, and the other one is fixed on the base; the displacement measuring module is arranged corresponding to the grid ruler and is used for measuring the relative displacement of the displacement measuring module and the grid ruler; the force detection module is in communication connection with the displacement measurement module; for detecting an external force value based on the relative displacement amount. The technical scheme of the invention has the advantages of small influence by temperature change, small volume, high rigidity, convenient installation and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a force sensor assembly, a measuring method, an actuator comprising the force sensor assembly and a robot.
Background
With the rapid development of industrial automation, robots are also rapidly developed and widely used. The robot may comprise a humanoid robot or a robotic arm. An actuator is arranged at the tail end of the robot, the robot drives the actuator to move to a target position and controls the actuator to complete certain actions, such as: grasping or releasing objects, moving objects, fitting between objects, and the like.
The actuator can be designed into any structure according to the requirement of completing the action, such as: a jaw or a suction cup. In some cases, closed-loop control of the actuator and the robot can be accomplished based on direct measurement of force-bearing information for the actuator, so that the input to the actuator can be optimized according to the force feedback signal; in addition, the force sensor is used for directly measuring the end force of the actuator, so that different clamping forces can be matched for objects with different masses, and the reliability of the actuator is improved due to the fact that the actuator is relatively weak.
In order to achieve the above purpose, the conventional method is to arrange a strain gauge force sensor at the output end of the actuator to measure the force, and since the strain gauge force sensor is greatly influenced by the temperature, the measurement accuracy is easily influenced under the condition of large environmental temperature change; the high-precision strain gauge force sensor is relatively large in size and is not suitable when being applied to an actuator end; in addition, in order to finish precise force measurement, the force sensor is required to be tightly attached to a surface to be measured, and the attaching success rate is often low by adopting a strain gauge force sensor; in addition, the strain gauge force sensor has various problems of high cost, low rigidity, and the like, so that the application of the strain gauge force sensor to the actuator end is not a good choice.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a force sensor assembly, a measuring method, and an actuator and a robot including the force sensor assembly.
The present invention provides in a first aspect a force sensor assembly for measuring an external force value acting on the force sensor assembly; the force sensor assembly includes: the device comprises a base, an elastic deformation piece, an end cover and a force sensor; the force sensor includes: the device comprises a grating ruler, a displacement measurement module and a force detection module;
the base and the end cover are oppositely arranged through being fixedly connected with the elastic deformation piece; the base, the elastic deformation piece and the end cover are enclosed to form a cavity;
at least the grating ruler and the displacement measuring module are positioned in the cavity; one of the grid ruler and the displacement measuring module is fixed on the end cover, and the other one is fixed on the base;
the displacement measuring module is arranged corresponding to the grid ruler and is used for measuring the relative displacement of the displacement measuring module and the grid ruler;
the force detection module is in communication connection with the displacement measurement module; for detecting the external force value based on the relative displacement amount.
Further, the force sensor includes: 3 grid rulers and 3 displacement measuring modules;
the 3 displacement measurement modules are: the displacement measuring device comprises a first displacement measuring module, a second displacement measuring module and a third displacement measuring module;
the 3 grid rulers are as follows: the device comprises a first grid ruler, a second grid ruler and a third grid ruler; wherein the content of the first and second substances,
the first grid ruler and the first displacement measuring module are oppositely arranged along the Y-axis direction and are used for detecting the relative displacement along the Y-axis direction;
the second grid ruler and the second displacement measuring module are oppositely arranged along the X-axis direction and are used for detecting the relative displacement along the X-axis direction;
the third grid ruler and the third displacement measurement module are arranged oppositely along the Z-axis direction and used for detecting the relative displacement of the grid ruler and the displacement measurement module along the Z-axis direction.
Further, the base and the end cover are arranged in parallel; the first grid ruler and the third grid ruler, and the first displacement measuring module and the second displacement measuring module are arranged perpendicular to the base or the end cover; and the second grid ruler and the second displacement measuring module are arranged in parallel to the base or the end cover, or are positioned in the same plane with the base or the end cover.
Furthermore, the 3 grid rulers are fixed on the end cover or the base through a support.
Further, the first displacement measurement module and the third displacement measurement module are fixed on the first circuit board in an electrically connected manner; and/or
The second displacement measurement module is fixed on the second circuit board in an electrically connected mode.
Further, the first circuit board is vertically fixed on the base or the end cover;
the second circuit board is fixed on the base or the end cover; and the second circuit board is parallel to the base or the end cover, or is positioned in the same plane with the base or the end cover.
Further, the force sensor is a grating force sensor and/or a magnetic grating force sensor.
Further, the elastic deformation piece is a plastic piece and/or a rubber piece.
A second aspect of the invention provides an actuator comprising a force sensor assembly according to any one of the first aspects; the force sensor assembly is fixed to the output end of the actuator through the base.
Further, the actuator is a clamping jaw; the output end is the clamping surface of the clamping jaw.
Furthermore, the output end is inwards sunken to form an open accommodating groove; the force sensor assembly is fixed in the accommodating groove through the base; the end cover corresponds to the output end; and is
A space capable of moving relatively is formed between the force sensor assembly and the accommodating groove.
A third aspect of the invention provides a robot comprising at least one actuator according to any of the second aspects.
A fourth aspect of the present invention provides an external force value measurement method of the force sensor assembly described above, comprising:
calculating component forces along X, Y, Z axes respectively based on the force sensor assembly; the calculation formula of the component forces in the three directions is as follows:
Fx＝A1·Lx+B1·Ly+C1·Lz
FY＝A2·Lx+B2·Ly+C2·Lz，
FZ＝A3·Lx+B3·Ly+C3·Lz
wherein, F isx、Fy、FzRespectively representing the component forces in the three directions;
said Lx、Ly、LzRepresenting the amount of deformation in the three directions;
a is described1、A2、A3Respectively, the calibration slopes of the component force in the X direction in the direction of the X, Y, Z axis;
b is1、B2、B3Respectively, the calibration slopes of the Y-direction component force in the direction of the X, Y, Z axis;
said C is1、C2、C3Respectively is the calibration slope of the component force in the Z direction in the direction of the X, Y, Z axis;
and solving the composite external force value based on the component forces in the three directions.
Through the force sensor subassembly based on bar sensor and the design of elastic deformation piece, can have that it is little, small to receive temperature variation to influence, advantages such as rigidity height and/or simple to operate.
In addition, by applying the force sensor assembly to the actuator, the force measurement at the output of the actuator is less affected by temperature changes due to the force sensor being less affected by temperature changes; the force sensor is convenient to install, so that the integral installation of the actuator can be accelerated and facilitated; because the volume of the force sensor assembly can be smaller, the area of the output end of the actuator is smaller, the application range of the actuator is improved, and the like.
In addition, by designing the force sensor assembly as a force sensor for three-component detection, the composite load of the components in three directions can be measured by the force sensor. When the force sensor component is applied to the output end of an actuator of a robot, the robot has various postures, and the gratings are arranged along the X, Y, Z axis in three directions to measure the component force of the composite load along the X, Y, Z axis direction, so that the real size and direction of the composite load are obtained, and the force sensor component can finish force measurement after the actuator grabs a target object in any posture.
In addition, by adopting the force sensor assembly, the position error of the tail end of the actuator caused by the elastic deformation of the force sensor assembly can be reduced due to high rigidity and small deformation, so that the positioning and repeated positioning precision of the robot adopting the force sensor assembly is improved; in addition, the pose retention degree of the robot in multiple poses can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a first schematic view of an actuator according to an embodiment of the present invention;
FIG. 2 is a first schematic illustration of an explosive arrangement of an actuator according to an embodiment of the present invention;
FIG. 3 is a first schematic view, partially in cross-section, of an actuator according to an embodiment of the present invention;
FIG. 4 is a first schematic diagram of a portion of an overall structure of a force sensor provided in accordance with an embodiment of the present invention;
FIG. 5 is a first schematic illustration of an explosion of a force sensor provided in accordance with an embodiment of the present invention;
FIG. 6 is a second schematic illustration of an explosion of a force sensor provided in accordance with an embodiment of the present invention;
FIG. 7A is a partial first schematic view of a grating according to an embodiment of the present invention; FIG. 7B is a second schematic diagram of a portion of a grating according to an embodiment of the present invention; FIG. 7C is a partial first schematic view of a magnetic grid according to an embodiment of the present invention; FIG. 7D is a second schematic view of a portion of a magnetic grid in accordance with an embodiment of the present invention;
FIG. 8A is a first diagram illustrating calibration results of a force sensor according to an embodiment of the present invention; FIG. 8B is a second diagram illustrating calibration results of a force sensor according to an embodiment of the present invention; FIG. 8C is a third schematic diagram of calibration results of a force sensor according to an embodiment of the present invention;
fig. 9 is a first schematic view of the overall structure of a robot provided in the embodiment of the present invention;
fig. 10 is a first flowchart of a force measuring method according to an embodiment of the invention.
Description of the symbols of the drawings: the system comprises a 10 actuator, a 20 manipulator, a 30 force sensor assembly, an 11 output end, a 31 end cover, a 32 elastic deformation piece, a 33 base, a 34 force sensor, a 111 accommodating groove, 112 gaps, a 341 first grid ruler, a 342 second grid ruler, a 343 third grid ruler, a 344 first displacement measurement module, a 345 second displacement measurement module, a 346 third displacement measurement module, a 347 support, a 348 first circuit board, a 349 second circuit board and a 350 force detection module.
Detailed Description
In order to make the technical solutions of the embodiments of the present invention better understood, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 4, 5 or 6, a force sensor assembly 30 is provided in one embodiment.
As shown in fig. 1, 2, or 9, in one embodiment, the force sensor assembly 30 may be mounted to the output end 11 of the actuator 10 of the robot 20. After the robot generates a control instruction to control the actuator to grab the target object, the target object applies reverse external acting force load to the actuator, a force sensor assembly arranged at the output end of the actuator is used for measuring a force feedback signal related to the value (size and direction) of the external acting force, and closed-loop control can be completed on the actuator and the robot based on direct measurement of stress information of the actuator, so that the input of the actuator can be optimized according to the feedback signal of the external acting force value; in addition, the force sensor is used for directly measuring the end force of the actuator, so that different clamping forces can be matched for objects with different masses, the actuator is relatively weak, the reliability of the actuator is improved, and the like. The following embodiments will be further described with respect to robots and actuators.
As shown in fig. 6, in one embodiment, the force sensor assembly 30 includes: end cap 31, elastic deformation piece 32, base 33 and force sensor 34. Wherein, force sensor 34 includes: a grid 342 (also referred to as a second grid 342 in the embodiments described later), a displacement measuring module 345 (also referred to as a second displacement measuring module 345 in the embodiments described later), and a force detecting module (omitted in the drawings);
the end cover 31 and the base 33 are oppositely arranged by being fixedly connected with the elastic deformation piece 32, and the end cover 31, the elastic deformation piece 32 and the base 33 together enclose to form a cavity in which at least the grid ruler 342 and the displacement measurement 345 are accommodated.
In a preferred embodiment, the end cap 31 and base 33 are made of a non-elastically deformable material and/or structure such that deformation of the force sensor assembly is caused by deformation of only one factor of the elastically deformable member 32, thereby improving the accuracy of the final measurement.
It should be noted that the end cap 31, the elastic deformation member 32 and the base 33 may enclose a sealed cavity or an unsealed cavity. Preferably, a sealed cavity is formed, which prevents dust or debris from entering the cavity and thereby affecting the performance of the grating and displacement measuring module located within the cavity.
As shown in fig. 4 or 5, further, in an embodiment, the end cap 31 and the base 33 are rectangular, and the elastic deformation member 32 forms a rectangular cylindrical structure corresponding to the edges of the end cap 31 and the base 33, so that after the base 31 is fixedly connected to the end cap 33 through the elastic deformation member 32, the base 31, the elastic deformation member 32 and the end cap 33 together enclose a cavity with a rectangular cross section. It should be noted that the cross sections of the end cap, the base, the elastic deformation member and the cavity may be rectangular, or may be designed into any shape as required.
It should be noted that, the end cover 31 and the base 33 are oppositely arranged, and the end cover 31 and the base 33 are not necessarily required to be completely aligned up and down, and usually, the two are located in two planes parallel to each other, and even if the positions are relatively staggered, it is within the protection scope of the invention as long as the cavity capable of accommodating the grid ruler and the displacement measurement module is ensured to be formed; of course, the present invention does not limit the end cover and the base to be located in two parallel planes, and even if the end cover and the base are located in intersecting planes, the present invention also falls into the protection scope of the present invention, as long as the angle at which the grid ruler and the displacement measurement module are fixed on the end cover and the base is adjusted, so as to ensure that the grid ruler and the displacement measurement module can be kept relatively parallel.
As further shown in fig. 4 or 5, in a preferred embodiment, a grid 342 may be secured to a first side of the end cap 31 corresponding to the base 33, and a displacement measurement module 345 may be secured to a second side of the base corresponding to the end cap. The end cover is used as a direct applied part of the external force action, and the base is used for being fixedly connected with the actuator, so that the end cover is displaced relative to the base under the action of stress; in addition, the grid ruler can be fixed on the second surface of the base corresponding to the end cover, and the displacement measuring module can be fixed on the first surface of the end cover corresponding to the base. For convenience of understanding, the following embodiments will be described by taking the example in which the grid ruler is fixed to the end cover and the displacement measuring module is fixed to the base.
Continuing with FIG. 6, the force sensor 34 may be: a grating force sensor and/or a magnetic grating force sensor, etc. having the above-described structural members; each force sensor can be a relative force sensor and an absolute force sensor; the absolute force sensor is characterized in that when the sensor is powered on, a position value can be obtained immediately and can be read by a subsequent signal processing electronic circuit at any time, a reference point zero-returning operation is executed without shifting a shaft, absolute position information comes from a grating ruler reticle formed by a series of absolute codes, and usually, two grating rulers with different code channels (as shown in fig. 7A or 7C) are provided, but not limited to two code channels; the scale of the opposing force sensor is made up of periodic lines (as shown in fig. 7B or 7D), the track signals are subdivided to generate position values, and at the same time, incremental signals for selection can be generated, and the position information is obtained by calculating the number of increments from a certain point.
In one embodiment, taking a magnetic grid force sensor as an example, the displacement measurement module of the magnetic grid force sensor may be a magnetic encoder chip; the grating ruler is a magnetic grating ruler consisting of small magnetic poles (as shown in fig. 7C or 7D), and since the magnetic grating consists of N poles and S poles which are separated from each other, a changing magnetic field is generated at the magnetic resistance sensor during the linear motion of the magnetic grating relative to the magnetic resistance sensor of the magnetic encoder chip, and the magnetic encoder chip can process the movement information of the magnetic grating according to the change of the magnetic field; and then the force measurement module obtains the force information according to the motion information. The grating force sensor may include a relative grating force sensor (as shown in fig. 7D) and an absolute grating force sensor (as shown in fig. 7C).
In one embodiment, taking a grating force sensor as an example, the grating force sensor may include a relative grating force sensor (as shown in fig. 7B) and an absolute grating force sensor (as shown in fig. 7A); in addition, the grating force sensor assembly can be divided into: reflective grating force sensors and transmissive grating force sensors.
As shown in fig. 7A, in one embodiment, for convenience of understanding, the grating ruler, the displacement measuring module and the force detecting module of the force sensor are further described in detail by taking an absolute reflective grating force sensor as an example. In the grating force sensor, a grating ruler is a grating, two parallel code channels can be contained on the grating, and each code channel consists of light-reflecting and non-light-reflecting interphase regions; it should be noted that the number of code channels is not limited to two, and may be designed to be any number according to needs. The displacement measuring module 344 is configured to obtain a relative displacement of the grating through analysis based on light reflected or projected by the grating, and in one embodiment, the displacement measuring module 344 may be an encoder chip, where the encoder chip mainly includes a light source, a photosensitive element and an analysis module, the photosensitive element corresponds to a code channel of the grating, when the light source emits light, the light is reflected into the photosensitive element through the code channel of the grating, when the grating moves, the code channels are located at different positions, and light received by each photosensitive element changes according to the change of the position of the grating, and is converted into a corresponding level signal according to the change of the light received by the two photosensitive elements, and the relative displacement of the grating is obtained through analysis by the analysis module. It should be noted that the measured relative displacement may be an actual value of the relative displacement, or may be a representative value representing the actual value according to a certain preset ratio; in addition, the structure of the grating and the displacement measuring module is only an embodiment for understanding the technical solution of the present invention, and it should be understood that any structure that meets the functional requirements of the grating and the displacement measuring module 344, which is developed now or in the future, falls within the scope of the present invention.
In one embodiment, the force sensor 34 may further include a circuit board 349 (which may also be used as a second circuit board in the following embodiments), the displacement measuring module 345 is electrically connected to the circuit board 349, and the circuit board 349 may be provided with electronic components such as resistors and capacitors for adaptation; in addition, the circuit board 349 can also be used as a support, so that the displacement measuring module 345 can be conveniently fixed on the base 33 or the end cap 31 through the circuit board 349. Such as: as shown in fig. 6, the base 33 may be designed as a hollow frame 33, the circuit board 349 may be disposed in the middle of the frame 33, and the outer edges of the circuit board 349 may be embedded into the borders of the frame 33, so as to be fixed in the frame 33.
The force detection module is communicatively connected to the displacement measurement module 345, and is configured to calculate a specific value of the external force according to the relative displacement signal measured by the displacement measurement module 345 and a calibration result generated in advance, which will be described in further detail in the following embodiments. The force sensing module may be fixed within the cavity of the force sensor assembly 34 or outside the cavity, preferably, the force sensing module is fixed outside the cavity, which may reduce the volume of the force sensor assembly at the actuator end. It should be noted that, when the force detection module is located outside the cavity, the force detection module 350 may be a part of the control unit 21 of the robot 20 (as shown in fig. 9) or equivalent to the control unit of the robot; or separately from the control unit of the robot (the drawings are omitted).
Specifically, the force detection module may include, but is not limited to: a Programmable Logic Controller (PLC), a Field Programmable Gate Array (FPGA), a Computer device (PC), an Industrial control Computer (IPC), a Digital Signal Processor (DSP), a Micro Control Unit (MCU), a server, or the like.
It should be noted that the number of the grid ruler and the displacement measuring module can be designed arbitrarily according to the direction of the force to be measured, such as: as shown in fig. 6, only the grid rulers are provided in the X-axis direction.
Further, as shown in fig. 4 or 5, in a preferred embodiment, the force sensor 34 includes three scales, namely a first scale 341, a second scale 342, and a third scale 343, and three displacement measurement modules, namely a first displacement measurement module 344, a second displacement measurement module 345, and a third displacement measurement module 346, corresponding to the three scales, respectively.
The three grid rulers 341, 342, 343 and the corresponding 3 displacement measurement modules 344, 345, 346 are respectively used for measuring the component forces of the output end 11 of the actuator along the axis Y, X, Z in three directions, and a composite external force value can be further solved by performing vector synthesis based on the component forces in the three directions.
By designing the force sensor as a three-component force sensor, a composite load comprising three directional components of force can be measured by the force sensor. When the force sensor component is applied to the output end of an actuator of a robot (such as a manipulator), the manipulator has multiple postures, force components in a single direction can not be measured when the manipulator is positioned in different postures, and the grid ruler is arranged along the X, Y, Z axis in three directions to measure the force components of a composite load along the X, Y, Z axis, so that the real size and direction of the composite load are obtained, the force sensor component can not be influenced by the postures, and the force measurement can be completed after the actuator grabs a target object in any posture.
Further, as shown in fig. 5, in one embodiment, three grid rules 341, 342, 343 may be fixed to the corresponding faces of the end caps 31 of the base 33 along the axis Y, X, Z in three directions. Such as: the first grid ruler 341 and the third grid ruler 343 are arranged along the Y-axis and Z-axis directions (for example, arranged along the longitudinal direction) and are used for measuring the stress along the Y-axis and Z-axis directions respectively; the second grid 342 is disposed along the X-axis (e.g., along the transverse direction) for measuring the force along the X-axis.
Further, in one embodiment, 3 scales 341, 342, 343 may be fixed to the end cap 31 by brackets 347 in a predetermined orientation.
Further, in an embodiment, taking the end cap 31 and the base 33 as an example of being parallel to each other, the three grid rules 341, 342, 343 fixed to the end cap 31 along the Y, X, Z axis in three directions can be realized by the following structure:
the first grid rule 341 and the third grid rule 343 are arranged perpendicular to the end cover 31; the second grid 342 is disposed parallel to the end cap 31 or in the same plane as the end cap 31.
3 displacement measurement modules 344, 345 and 346 are respectively fixed on the base 33 corresponding to the three grid rulers 341, 342 and 343, and then the first displacement measurement module 344 and the third displacement measurement module 346 are arranged perpendicular to the base 33; the second displacement measuring module 345 is disposed parallel to the base 33 or in the same plane as the base. When the gripping surface 11 of the clamping jaw 10 performs some movement, the end cap 31 is subjected to a corresponding acting force, and since the end cap 31 is fixedly connected to the base 33 through the elastic deformation member 32, the end cap 31 moves relative to the base 33, and further drives the gratings 341, 342, 343 fixed to the end cap 31 to move relative to the encoder chips of the displacement measurement modules 344, 345, 346 fixed to the base 33, and further completes the measurement of the forces in three directions according to the working principle of the force sensor described in the above embodiment.
Further, in one embodiment, the force sensor assembly 34 may also include a first circuit board 348 and/or a second circuit board 349; the first and third displacement measurement modules 344 and 346 are commonly electrically secured to a first circuit board 348, such as: the pins of the first displacement measurement module 344 are welded on the first single-circuit board; the second displacement measurement module 345 is electrically connected to a second circuit board 349. In addition, the first circuit board and the second circuit board may be replaced with brackets, so that the respective displacement measuring modules are fixed to the base in a predetermined posture by the brackets as in the case of the grating described in the above embodiment.
Further, in one embodiment, when the first and third rulers 341 and 343 are disposed perpendicular to the end cap 31 as described in the above embodiments; the second grid ruler 342 is arranged in parallel to the end cover 342, and the corresponding arrangement of the displacement measuring module and the grid ruler can be realized through the following structure;
the first circuit board 348 is disposed perpendicular to the base 33; the second circuit board 349 is parallel to the base 33, or disposed in the same plane as the base 33, such as: the base 33 may be a frame 33 as described in the above embodiments, and the second circuit board 349 may be embedded in the frame 33 so as to be located in the same plane as the base 31.
It should be noted that the elastic deformation element 32 may be a structural element (e.g., a spring) formed by various structures with elastic deformation function now available or developed in the future, or a structural element directly processed from an elastic deformation material, and in an embodiment, the elastic deformation element may include, but is not limited to: plastic members such as Polyethylene (PE), Polypropylene (PP), Polyurethane (PU), and the like; and/or rubber members such as polyurethane rubber, nitrile rubber, ethylene propylene diene monomer rubber, silica gel and the like.
It should be noted that, because the elastic deformation element 32 is made of different materials and/or structures, and the different materials and/or structures have different parameters (such as density and elastic modulus), the amount of elastic deformation generated after the force is applied is different, and therefore, the force sensor assembly needs to be calibrated in advance.
The calibration result may be generated by various existing or future developed methods, as shown in fig. 8A, 8B, or 8C, in an embodiment, taking the elastic deformation element as a PP element, and the force sensor as a grating force sensor, for example, a standard force source may be used, different forces may be sequentially applied in three directions of the X, Y, Z axis of the sensor, experimental data of displacement of the end cap along the force direction corresponding to the different forces (as shown in the left graph in fig. 8A, 8B, or 8C) may be collected, and a linear fitting may be performed according to the forces and the corresponding displacement data, so as to obtain a slope y of the fitting line (as shown in the right graph in fig. 8A, 8B, or 8C), where the slope y is a calibration result of a linear transformation relationship between the forces and the displacements.
In another embodiment, the working principle of the force sensor is to detect the deformation of the elastic deformation element 32 in each direction, and indirectly measure the component force value in each direction to determine the magnitude and direction of the composite load. In some actual force measurement processes, due to the difference of the structure and/or material of the elastic deformation member, deformation may occur in a certain direction, and not only deformation occurs in the direction, but also deformation occurs in two other directions, so that the magnitude of the component force in the direction cannot be directly obtained according to the deformation in the certain direction, and the magnitude of the component force in the direction needs to be obtained by combining the calibration results of the deformation in the three directions, thereby obtaining the magnitude and direction of the real composite load of each component force.
Specifically, the method for generating the calibration result of the deformation amount in each direction corresponding to the component force in each direction is referred to the above embodiment, and is not described herein again.
As shown in fig. 10, specifically, the external force value measuring method based on the force sensor assembly may include the following steps:
s101, component forces in three directions along an X, Y, Z axis are obtained respectively based on the deformation quantity of the force sensor assembly in the three directions;
let F be the combined external force, and F be the component force of the external force F in the X, Y, Z axis three directions respectivelyx、Fy、FzThe amount of deformation in each direction is Lx、Ly、Lz(ii) a Also, the calibration result of the force sensor assembly is generated in advance, and the component force in each direction is respectivelyForming a deformation calibration slope for the X, Y, Z axis; the calculation formula of each component force is as follows:
Fx＝A1·Lx+B1·Ly+C1·Lz
FY＝A2·Lx+B2·Ly+C2·Lz(1)
FZ＝A3·Lx+B3·Ly+C3·Lz
wherein A is1、A2、A3Respectively, the calibration slopes of the component force in the X direction in the direction of the X, Y, Z axis;
B1、B2、B3respectively, the calibration slopes of the Y-direction component force in the direction of the X, Y, Z axis;
C1、C2、C3respectively, the nominal slope of the Z-direction component in the direction of the X, Y, Z axis, respectively.
S102 finds a composite external force value based on the three directional component forces.
The specific detection process is as follows: the deformation in all directions is detected by the force sensor assembly, the numerical value of the deformation is substituted as formula (1), the component force values in three directions can be obtained, then vector synthesis is carried out, the detection of the composite external force value (size and direction) can be completed, and the force measurement function of the force sensor is realized.
By adopting the force sensor assembly comprising the grating ruler structure, grating rulers with different sizes and specifications can be adopted according to requirements, so that the volume is smaller compared with that of a strain gauge force sensor;
in addition, the influence of temperature change on the grid ruler relative to the strain gauge is smaller, so that the measurement is more accurate in the environment with larger temperature change;
in addition, the force/moment measurement can be realized by sensing the tiny deformation (for example, tens of microns) of the elastic deformation piece, and the sensor has higher rigidity compared with the traditional strain gauge sensor.
In addition, the force sensor assembly can be directly fixed on the actuator through the base, so that the installation is convenient.
As shown in fig. 1 or 2, in one embodiment, an actuator 10 is also provided, and the actuator 10 may be applied to various robots.
Specifically, the actuator 10 may be designed in any configuration as required to perform the action, and the embodiment will be further described in detail by taking the example of the gripper 10 having the configuration as shown in fig. 1 or 2 as the actuator 10.
The output end 11 of the actuator 10 is provided with a force sensor assembly 30. Specifically, the output end 11 may be a gripping surface 11 of the actuator 10 for gripping the object, i.e., a force sensor assembly 30 is correspondingly disposed on the gripping surface 11.
The force sensor unit 30 may be provided on one of the gripping surfaces 11, or may be provided on each of the gripping surfaces 11. The present embodiment will be described in further detail with an example in which the force sensor assembly 30 is provided on the gripping surface on one side.
Further, in one embodiment, in order to implement the force sensor assembly 30 disposed at the output end 11 of the actuator 10, an accommodating groove 111 with an open end may be formed by recessing inward from the output end 11 of the actuator 10, the force sensor assembly 30 is fixed in the accommodating groove 111 by a base 33, and an end cap 31 of the force sensor assembly 30 is disposed corresponding to the clipping surface 11.
As shown in fig. 3, in one embodiment, the force sensor assembly 30 is fixed (e.g., fixed by clipping or screwing) to the bottom of the receiving groove 111 via the base 33, such that the end cap 31 of the force sensor assembly 30 located in the receiving groove 111 is disposed corresponding to the clipping surface 11.
Specifically, the end cap 31 may be disposed corresponding to the clipping surface 11: the end cap 31 may be coplanar with the grasping face 11 or at least a portion of the end cap 31 may be slightly above (as shown in fig. 3)/slightly below the grasping face 11. As shown in fig. 3, at least a portion of the end cap 31 is preferably slightly higher than the gripping surface 11, so that the external force applied by the gripped object can act directly on the end cap 31 preferentially during the gripping process, thereby facilitating the force sensor assembly to perform force measurement more precisely.
Because the force sensor assembly 30 is fixed in the accommodating groove 111 through the base 33, when the end cover 31 of the force sensor assembly 30 is acted by a force to be measured, the end cover 31 is fixedly connected with the base 33 through the elastic connecting piece, so that the end cover 31 can displace relative to the base 33, and further the grating and the displacement measuring module are driven to move relatively, and a space capable of moving relatively is formed between the sensor assembly and the accommodating groove. In particular, the space is formed according to the direction of the relative movement, such as: as shown in fig. 3, 4 or 5, a certain gap 112 may be formed between the inner sidewall of the accommodating groove 111 and the outer sidewall of the force sensor assembly 30, so as to reserve a space for the relative movement of the grating and the displacement measuring module along the X-axis and the Y-axis directions, and further, according to the above embodiment, the accommodating groove 111 itself is an open groove, so as to reserve a space for the relative movement of the grating and the displacement measuring module along the Z-axis direction.
Through adopting the force sensor subassembly of above-mentioned structure, can be more convenient, the efficient is fixed in the storage tank of executor with the force sensor subassembly, for example: the force sensor assembly 30 is directly fixed in the receiving groove 111 by the base 33.
For other relevant descriptions of the force sensor assembly, reference is made to the above embodiments, and the description is not repeated here.
By applying the force sensor assembly to the actuator, the force measurement at the output of the actuator is less affected by temperature changes due to the force sensor being less affected by temperature changes; because the force sensor assembly can be directly fixed in the containing groove through the base, the force sensor assembly can be more quickly and conveniently arranged on the actuator; because the volume of the force sensor assembly can be smaller, the area of the output end of the actuator is often smaller, the application range of the actuator is improved, and the like;
in addition, by designing the force sensor assembly as a force sensor for three-component detection, the composite load of the components in three directions can be measured by the force sensor. When the force sensor component is applied to the output end of an actuator of a manipulator, the manipulator has various postures, and the grid ruler is arranged along three directions of the X, Y, Z axis to measure each component force of the composite load along the X, Y, Z axis direction, so that the real size and direction of the composite load are obtained, and the force sensor component can finish force measurement after the actuator grabs a target object in any posture.
In another embodiment, as shown in fig. 9, a robot 20 is also provided, the robot 20 including at least one implement 10 as described in the above embodiments.
It should be noted that the robot may include, but is not limited to: a humanoid robot or manipulator; wherein the robot may include a serial robot and a parallel robot; the tandem manipulator is formed by connecting a plurality of joints in series, such as: a four-axis manipulator and a six-axis manipulator; the parallel manipulator is formed by connecting a plurality of joints in parallel, such as: delta robot.
Specifically, as shown in fig. 9, taking the robot 20 as a six-axis robot hand 20 as an example, the actuator 10 may be fixed to a flange at an output end of a distal end joint of the robot hand.
Other relevant descriptions of the actuator are provided in the above embodiments, and are not repeated here.
By adopting the force sensor assembly, the position error of the tail end of the actuator caused by the elastic deformation of the force sensor assembly can be reduced due to high rigidity and small deformation, so that the positioning and repeated positioning precision of a robot adopting the force sensor assembly is improved; in addition, the pose retention degree of the robot in multiple poses can be improved.
Unless otherwise indicated, when an element is referred to as being "disposed on" another element, it can be fixed to the other element or movably coupled with respect to the other element. When an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The terms "first," "second," "third," and the like in the description and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not explicitly listed or inherent to such process, method, system, article, or apparatus.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
It should be noted that the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention, as will be understood by those skilled in the art.
The force sensor assembly, the measuring method, the actuator including the force sensor assembly, and the robot provided by the embodiments of the present invention are described in detail above, but the above description of the embodiments is only for assisting understanding of the method of the present invention and the core idea thereof, and should not be construed as limiting the present invention. Those skilled in the art should also appreciate that various modifications and substitutions can be made without departing from the scope of the present invention.
Claims (13)
1. A force sensor assembly for measuring an external force value acting on the force sensor assembly; characterized in that the force sensor assembly comprises: the device comprises a base, an elastic deformation piece, an end cover and a force sensor; the force sensor includes: the device comprises a grating ruler, a displacement measurement module and a force detection module;
the base and the end cover are oppositely arranged through being fixedly connected with the elastic deformation piece; the base, the elastic deformation piece and the end cover are enclosed to form a cavity;
at least the grating ruler and the displacement measuring module are positioned in the cavity; one of the grid ruler and the displacement measuring module is fixed on the end cover, and the other one is fixed on the base;
the displacement measuring module is arranged corresponding to the grid ruler and is used for measuring the relative displacement of the displacement measuring module and the grid ruler;
the force detection module is in communication connection with the displacement measurement module; for detecting the external force value based on the relative displacement amount.
2. The force sensor assembly of claim 1, wherein the force sensor comprises: 3 grid rulers and 3 displacement measuring modules;
the 3 displacement measurement modules are: the displacement measuring device comprises a first displacement measuring module, a second displacement measuring module and a third displacement measuring module;
the 3 grid rulers are as follows: the device comprises a first grid ruler, a second grid ruler and a third grid ruler; wherein the content of the first and second substances,
the first grid ruler and the first displacement measuring module are oppositely arranged along the Y-axis direction and are used for detecting the relative displacement along the Y-axis direction;
the second grid ruler and the second displacement measuring module are oppositely arranged along the X-axis direction and are used for detecting the relative displacement along the X-axis direction;
the third grid ruler and the third displacement measurement module are arranged oppositely along the Z-axis direction and used for detecting the relative displacement of the grid ruler and the displacement measurement module along the Z-axis direction.
3. The force sensor assembly of claim 2, wherein the base and the end cap are disposed in parallel;
the first grid ruler and the third grid ruler, and the first displacement measuring module and the second displacement measuring module are arranged perpendicular to the base or the end cover; and is
The second grid ruler and the second displacement measuring module are arranged in parallel to the base or the end cover, or are positioned in the same plane with the base or the end cover.
4. The force sensor assembly of claim 2 or 3, wherein the 3 grid rules are secured to the end cap or the base by a bracket.
5. The force sensor assembly of claim 2 or 3, wherein the first and third displacement measurement modules are electrically secured to a first circuit board; and/or
The second displacement measurement module is fixed on the second circuit board in an electrically connected mode.
6. The force sensor assembly of claim 5, wherein the first circuit board is secured perpendicularly to the base or the end cap;
the second circuit board is fixed on the base or the end cover; and the second circuit board is parallel to the base or the end cover, or is positioned in the same plane with the base or the end cover.
7. The force sensor assembly of any of claims 1-3, wherein the force sensor is a grating force sensor and/or a magnetic grating force sensor.
8. The force sensor assembly of any one of claims 1-3, wherein the elastically deforming member is a plastic and/or rubber member.
9. An actuator, wherein the actuator comprises the force sensor assembly of any one of claims 1-8; the force sensor assembly is fixed to the output end of the actuator through the base.
10. The actuator of claim 9, wherein the actuator is a jaw; the output end is the clamping surface of the clamping jaw.
11. The actuator of claim 9 or 10, wherein the output end is recessed inwardly to form an open receiving slot; the force sensor assembly is fixed in the accommodating groove through the base; the end cover corresponds to the output end; and is
A space capable of moving relatively is formed between the force sensor assembly and the accommodating groove.
12. A robot, characterized in that it comprises at least one actuator according to any of claims 9-11.
13. A method of measuring the external force value of a force sensor assembly according to any one of claims 2-8, comprising:
calculating component forces along X, Y, Z axes respectively based on the force sensor assembly; the calculation formula of the component forces in the three directions is as follows:
Fx＝A1·Lx+B1·Ly+C1·Lz
FY＝A2·Lx+B2·Ly+C2·Lz，
FZ＝A3·Lx+B3·Ly+C3·Lz
wherein, F isx、Fy、FzRespectively representing the component forces in the three directions;
said Lx、Ly、LzRepresenting the amount of deformation in the three directions;
a is described1、A2、A3Respectively, the calibration slopes of the component force in the X direction in the direction of the X, Y, Z axis;
b is1、B2、B3Respectively, the calibration slopes of the Y-direction component force in the direction of the X, Y, Z axis;
said C is1、C2、C3Respectively is the calibration slope of the component force in the Z direction in the direction of the X, Y, Z axis;
and solving the composite external force value based on the component forces in the three directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010303507.XA CN111558954A (en) | 2020-04-17 | 2020-04-17 | Force sensor assembly, measuring method, actuator comprising force sensor assembly and robot comprising force sensor assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010303507.XA CN111558954A (en) | 2020-04-17 | 2020-04-17 | Force sensor assembly, measuring method, actuator comprising force sensor assembly and robot comprising force sensor assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111558954A true CN111558954A (en) | 2020-08-21 |
Family
ID=72068980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010303507.XA Pending CN111558954A (en) | 2020-04-17 | 2020-04-17 | Force sensor assembly, measuring method, actuator comprising force sensor assembly and robot comprising force sensor assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111558954A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052323A1 (en) * | 2020-09-10 | 2022-03-17 | 苏州大学 | Minimally invasive surgical robot and tail end actuator thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150276518A1 (en) * | 2014-04-01 | 2015-10-01 | Canon Kabushiki Kaisha | Optical force sensor and apparatus using optical force sensor |
| WO2015188515A1 (en) * | 2014-06-10 | 2015-12-17 | 广东工业大学 | Macro-micro composite grating scale measurement system based on vertical and horizontal conversion amplification |
| CN105181193A (en) * | 2015-10-21 | 2015-12-23 | 武汉科技大学 | Optical bragg grating six-dimension-force sensor, as well as main body structure and measurement method thereof |
| CN107101755A (en) * | 2017-06-15 | 2017-08-29 | 西安交通大学 | A kind of strain-type three-dimensional force sensor |
| CN109029804A (en) * | 2018-06-28 | 2018-12-18 | 武汉科技大学 | A kind of fiber-optic grating sensor and tire three-dimensional force measuring device |
| CN213703489U (en) * | 2020-04-17 | 2021-07-16 | 鲁班嫡系机器人（深圳）有限公司 | Force sensor assembly, actuator comprising same and robot |
-
2020
- 2020-04-17 CN CN202010303507.XA patent/CN111558954A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150276518A1 (en) * | 2014-04-01 | 2015-10-01 | Canon Kabushiki Kaisha | Optical force sensor and apparatus using optical force sensor |
| WO2015188515A1 (en) * | 2014-06-10 | 2015-12-17 | 广东工业大学 | Macro-micro composite grating scale measurement system based on vertical and horizontal conversion amplification |
| CN105181193A (en) * | 2015-10-21 | 2015-12-23 | 武汉科技大学 | Optical bragg grating six-dimension-force sensor, as well as main body structure and measurement method thereof |
| CN107101755A (en) * | 2017-06-15 | 2017-08-29 | 西安交通大学 | A kind of strain-type three-dimensional force sensor |
| CN109029804A (en) * | 2018-06-28 | 2018-12-18 | 武汉科技大学 | A kind of fiber-optic grating sensor and tire three-dimensional force measuring device |
| CN213703489U (en) * | 2020-04-17 | 2021-07-16 | 鲁班嫡系机器人（深圳）有限公司 | Force sensor assembly, actuator comprising same and robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022052323A1 (en) * | 2020-09-10 | 2022-03-17 | 苏州大学 | Minimally invasive surgical robot and tail end actuator thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10866150B2 (en) | Force/torque sensor, apparatus and method for robot teaching and operation | |
| Kim et al. | A novel six-axis force/torque sensor for robotic applications | |
| US7040033B2 (en) | Six degrees of freedom precision measuring system | |
| US8798790B2 (en) | Apparatus and method for detecting contact position of robot | |
| US7756608B2 (en) | System for calibration of an industrial robot and a method thereof | |
| CN110948522B (en) | Industrial robot space pose measuring mechanism and measuring method based on stay wire rotation sensor | |
| CN101660904A (en) | Kinematics calibration method of measurement robot | |
| CN213703489U (en) | Force sensor assembly, actuator comprising same and robot | |
| CN104596418A (en) | Coordinate system calibrating and precision compensating method of multi-mechanical-arm system | |
| KR101876676B1 (en) | 6-axis compliance device with force/torque sensing capability | |
| CN111531533A (en) | Zero point correction and gravity compensation method for six-dimensional force sensor | |
| CN111558954A (en) | Force sensor assembly, measuring method, actuator comprising force sensor assembly and robot comprising force sensor assembly | |
| Phan et al. | A novel 6-DOF force/torque sensor for COBOTs and its calibration method | |
| Bruzzone et al. | Modelling and control of peg-in-hole assembly performed by a translational robot | |
| Kim et al. | Displacement sensor integrated into a remote center compliance device for a robotic assembly | |
| Damnab et al. | Designing and developing a 6-dof calibration setup based on the gough-stewart platform equipped by potentiometer sensors | |
| CN110986919A (en) | Pose/force testing device based on six-degree-of-freedom flexible parallel mechanism | |
| Khanesar et al. | Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System. | |
| Bi et al. | Instrumentation of robotic grippers for dynamic control of robotic systems | |
| Liang et al. | Design of a novel six-dimensional force/torque sensor and its calibration based on NN | |
| Ish | Kinematic model and calibration of a robot manipulator | |
| Vira | Robots' end point sensing: hardware and software techniques | |
| JPS6228809A (en) | Calibrating method for robot coordinate system | |
| Huang et al. | Seven DOF Three-Finger Robotic Hand with the Pressure/Shear Sensors | |
| KR980008414A (en) | Method and apparatus for calibrating a vertical multi-joint welding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200821 |