CN114152381B - Rigidity-adjustable force measuring branch and corresponding parallel multidimensional force sensor - Google Patents
Rigidity-adjustable force measuring branch and corresponding parallel multidimensional force sensor Download PDFInfo
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- CN114152381B CN114152381B CN202111498051.8A CN202111498051A CN114152381B CN 114152381 B CN114152381 B CN 114152381B CN 202111498051 A CN202111498051 A CN 202111498051A CN 114152381 B CN114152381 B CN 114152381B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a rigidity-adjustable force measuring branch and a corresponding parallel multidimensional force sensor, wherein the rigidity-adjustable force measuring branch comprises a decoupling mechanism for decoupling stress, a rigidity adjusting mechanism which is assembled at the bottom end of the force measuring branch decoupling mechanism and used for adjusting the rigidity of the branch, a force sensor which is assembled at the bottom end of the rigidity adjusting mechanism, and a length compensating mechanism which is assembled at the bottom end of the force sensor and used for compensating the length of the branch; the stiffness adjustable parallel multidimensional force sensor comprises a stress platform, a fixed platform and at least one group of stiffness adjustable force measuring branches which are arranged in parallel, wherein the top end of a decoupling mechanism is fixedly arranged on the stress platform, and the bottom end of a length compensation mechanism is fixedly arranged on the fixed platform. The invention can realize the changeable adjustment of the rigidity of the force measuring branch and the uniform stress of the force measuring branch. The invention is suitable for parallel multidimensional force measurement, in particular for six-dimensional force measurement of wrist force of a robot.
Description
Technical Field
The invention belongs to the technical field of force sensors, relates to a rigidity-adjustable force measuring branch, and particularly relates to a rigidity-adjustable force measuring branch and a corresponding parallel multidimensional force sensor.
Background
A sensor is a device or measuring apparatus that is measured and converted to another parameter according to a certain rule. Sensors are the primary way to obtain information needed in the natural world and in the production field. Force sensors for measuring force values are the most basic type of sensor in production practice. The six-dimensional force sensor is particularly suitable for measuring wrist force of a robot because the six-dimensional force sensor can measure the size and the direction of the spatial six-dimensional force.
In the prior art, although the six-dimensional force sensor is provided with the sensor for measuring the six-dimensional force, most of the six-dimensional force sensor has the problems that a force measuring branch only can bear pressure but cannot bear tension, the force measuring branch has coupling effect on other measuring directions, the friction between the spherical joints is large, and the structure is complex, so that the six-dimensional force sensor is low in measuring precision and difficult in structure installation.
In the development of the six-dimensional force sensor, the parallel mechanism becomes an ideal choice of the structural configuration of the six-dimensional force sensor due to the large rigidity and the simple force mapping relation. The current research on the parallel six-dimensional force sensor has a great trend of adopting a novel force measuring branch and a novel sensor configuration to improve the measurement performance of the parallel six-dimensional force sensor, and simultaneously improving the measuring range and fault tolerance of the six-dimensional force sensor by adding redundant branches. However, due to the rigidity difference among the force-measuring branches of the parallel six-dimensional force sensor, uneven stress of the force-measuring branches is easily caused, so that the following defects are generated:
one is that the sensor measurement accuracy is low. On one hand, the rigidity of the force measuring branch cannot be adjusted, so that mapping between the generalized external force and the force measuring branch force of the sensor is influenced, and the accuracy of the sensor is reduced; on the other hand, the parallel six-dimensional force sensor not only needs to measure the magnitude of the applied generalized external force value, but also needs to calculate the force position through the force solution of each branch (for example, the force of each branch is theoretically the same when the center of the sensor is applied with the vertical force), and the force of each branch has different influences on the measurement of the force position precision due to the rigidity difference.
And secondly, the range loss is caused. The stress of each branch is uneven, one branch can reach the single branch maximum range earlier than other branches, and other branches do not reach the single branch maximum range at the moment, so that the whole six-dimensional force sensor cannot reach the theoretical measurement range, and further the range of the overconstrained parallel six-dimensional force sensor is limited, and the range loss is caused.
Therefore, the technical problem of uneven stress of each force measuring branch caused by the rigidity difference among the force measuring branches is solved in the research of the parallel six-dimensional force sensor.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a rigidity-adjustable force measuring branch and a corresponding parallel multidimensional force sensor, and solve the problem of uneven stress of each force measuring branch caused by the difference of measured branch rigidity, so as to realize the purposes of changeable and adjustable rigidity of the force measuring branch and uniform stress of the force measuring branch.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the rigidity-adjustable force measuring branch comprises a decoupling mechanism for decoupling stress, a rigidity adjusting mechanism which is arranged at the bottom end of the decoupling mechanism and used for adjusting the rigidity of the branch, a force sensor which is arranged at the bottom end of the rigidity adjusting mechanism, and a length compensating mechanism which is arranged at the bottom end of the force sensor and used for compensating the length of the branch.
As a limitation of the present invention, the decoupling mechanism includes a housing, a connecting post, and a nest block;
the bottom end of the connecting column penetrates into the shell and is fixedly connected with a nested block arranged in the shell;
the upper end, the lower end and the side wall of the nesting block are respectively provided with a groove for placing the steel balls, and the upper end, the lower end and the side wall of the nesting block are contacted with the inner wall of the shell through the steel balls.
As another limitation of the invention, the rigidity adjusting mechanism is formed by sequentially connecting four groups of rigidity adjusting assemblies through connecting rods, and each group of rigidity adjusting assemblies comprises an adjusting assembly, a locking assembly and a locking assembly, wherein the adjusting assembly is fixed on the shell and used for adjusting the position of the connecting rod, and the locking assembly is fixed on the shell and used for locking the position of the connecting rod.
As a further limitation of the invention, the adjusting assembly comprises a ratchet shaft rotationally connected with the shell, and a torsion switch, a ratchet wheel and a large gear are fixedly arranged on the ratchet shaft; one end of each connecting rod is fixedly connected with the shell of one rigidity adjusting assembly, and the other end of each connecting rod is fixedly connected with the ratchet shaft of the other rigidity adjusting assembly.
As still further defined in the present invention, the locking assembly comprises a cam shaft rotatably connected to the housing and two flexible support blocks fixedly mounted to the housing by springs, the cam shaft being fixedly provided with a cam and a pinion gear engaged with the large gear, the cam being disposed between the two flexible support blocks;
the opening position of the torsion switch corresponds to the unlocking position of each flexible supporting block separated from the ratchet wheel, and the closing position of the torsion switch corresponds to the locking position of each flexible supporting block locked with the ratchet wheel.
As a third limitation of the present invention, the length compensation mechanism includes a base, an upper wedge, and a lower wedge;
the upper wedge block is fixedly connected with the force sensor and is fixedly provided with a positioning bulge;
the lower wedge block is provided with a wedge groove in an up-down inclined manner, and the upper wedge block is connected in the wedge groove in a sliding manner;
the base is in sliding connection with the lower wedge block, the base is fixedly connected with a positioning lug with a through groove, and the positioning bulge is vertically and slidably connected in the through groove.
The invention also provides a rigidity-adjustable parallel multidimensional force sensor realized by the rigidity-adjustable force measuring branch, which has the following technical scheme: the utility model provides a parallelly connected multidimensional force transducer with adjustable rigidity, includes atress platform, fixed platform and at least a set of adjustable dynamometry branch of rigidity that the parallel set up, decoupling zero mechanism's top is adorned admittedly on the atress platform, and length compensation mechanism's bottom is adorned admittedly on the fixed platform.
By adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects:
(1) The rigidity of the force measuring branch is adjustable. The invention relates to an improvement invention for a force measuring branch of an existing multidimensional force sensor, which mainly improves the force measuring branch into a rigidity-adjustable one. Namely, the angle between the connecting rods is changed through the rigidity adjusting mechanism, the relation between the rigidity of the flexible supporting block and the axial deformation of the force measuring branch is adjusted, and the length compensation mechanism is combined to compensate the length change of the force measuring branch caused by the rigidity adjusting mechanism, so that the variable and adjustable rigidity of the force measuring branch is realized.
(2) The force-measuring branch is uniformly stressed. According to the invention, by adjusting the stress distribution relation among the force measuring branches, the stress of the force measuring branches can be uniform, the problem that the force measuring branches of the overconstrained parallel six-dimensional force sensor influence the measurement performance due to the rigidity difference in the prior art is solved, the measurement precision is improved, and the problem of range loss is solved.
(3) The force input output relationship is clarified. According to the multidimensional force sensor, the stressed external force is mapped to each force measuring branch through the force bearing platform, and each force measuring branch decoupling mechanism decouples the force borne by the force measuring branch into three mutually orthogonal forces for measurement, so that the mapping relation is simplified, the definite force input and output relation is provided, and the measurement accuracy is ensured.
(4) And the measurement accuracy is improved. The decoupling mechanism of the invention adopts the steel ball to contact with the inner wall of the shell, thereby reducing joint friction coupling and effectively ensuring measurement precision; in addition, the length compensation mechanism can keep the whole length of the force measuring branch unchanged when the rigidity of the force measuring branch is adjusted, and the influence on the measuring precision of the multidimensional force sensor is reduced as much as possible.
(5) The force-measuring branch can bear both compressive and tensile forces. When the stress platform is stressed, the upper connecting piece drives the nesting block to be stressed upwards through the connecting column, the upper end of the nesting block is stressed by being contacted with the inner wall of the shell through the steel ball, and the shell transmits the stress to the fixed platform to provide reverse tension; when the stress platform is stressed, the lower end of the nesting block is stressed by contacting the steel ball with the inner wall of the shell, and the steel ball transmits the stress to the fixed platform through the lower connecting piece to provide reverse pressure.
(6) The force measuring branch structure is modularized, and is convenient to install and debug.
The invention is suitable for parallel multidimensional force measurement, in particular for six-dimensional force measurement of wrist force of a robot.
Drawings
The invention will be described in more detail below with reference to the accompanying drawings and specific examples.
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a decoupling mechanism according to embodiment 1 of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic view of the rigidity adjusting mechanism according to embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of the structure of the large gear and the small gear in the locking assembly according to the embodiment 1 of the present invention;
FIG. 6 is a schematic view of the ratchet wheel of the stiffness adjustment mechanism of embodiment 1 of the present invention in an unlocked position;
FIG. 7 is a schematic view showing a structure of a ratchet of the rigidity adjusting mechanism according to embodiment 1 of the invention in a locked position;
FIG. 8 is a schematic diagram of a length compensation mechanism according to embodiment 1 of the present invention;
fig. 9 is a schematic structural view of embodiment 2 of the present invention.
In the figure: 1. a force bearing platform; 2. a stiffness adjustable force measuring branch; 3. a fixed platform; 4. a decoupling mechanism; 5. a rigidity adjusting mechanism; 6. a force sensor; 7. a length compensation mechanism; 8. an upper connecting piece; 9. a connecting column; 11. a steel ball; 12. nesting blocks; 14. a housing; 15. a lower connecting piece; 16. a housing; 17. a connecting rod; 18. a ratchet wheel; 19. a flexible support block; 20. twisting the switch; 21. a large gear; 22. a pinion gear; 23. a cam; 24. a base; 25. an upper wedge; 26. a lower wedge; 27. positioning lugs; 28. positioning the bulge; 29. wedge-shaped grooves; 30. a ratchet shaft; 31. and a cam shaft.
Detailed Description
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are presented for purposes of illustration and understanding only, and are not intended to limit the invention.
Example 1A stiffness-adjustable force-measuring branch
The embodiment is an improvement invention of the force measuring branch of the existing multidimensional force sensor 6, and the main improvement is to improve the force measuring branch into a control mode with adjustable rigidity. The decoupling mechanism 4 decouples the applied force into three orthogonal forces, the stiffness adjusting mechanism 5 adjusts the force distribution relation of the force measuring branch, and the length compensating mechanism 7 is matched to compensate the displacement of the length change in the stiffness adjusting mechanism 5, so that the whole length of the force measuring branch is kept unchanged, and finally the purpose of variable adjustment of the stiffness of the force measuring branch is realized. As shown in fig. 1 to 8, the present embodiment includes a decoupling mechanism 4, a rigidity adjusting mechanism 5, a force sensor 6, and a length compensating mechanism 7. The structure of each part is specifically explained below.
1. Decoupling mechanism 4
The decoupling mechanism 4 is used to decouple the forces experienced into orthogonal forces in three directions. The decoupling mechanism 4 includes a housing 14, a nest block 12 disposed within the housing 14, a connection post 9 for connecting the nest block 12, an upper connection member 8 for connecting the connection post 9, and a lower connection member 15 for connecting the rigidity adjusting mechanism 5.
The upper connecting piece 8 is arranged outside the shell 14, and the bottom end of the upper connecting piece 8 is fixedly connected with the connecting column 9. The casing 14 is the cuboid form that has the cavity, and the unthreaded hole corresponding with spliced pole 9 has been seted up on casing 14 upper portion, and spliced pole 9 bottom passes through the unthreaded hole and penetrates in the casing 14, and spliced pole 9 bottom links to each other with nest structure 12 that arranges in casing 14 inside is fixed. Grooves for placing the steel balls 11 are formed in the upper end face, the lower end face and the side walls of the nesting block 12, and the upper end, the lower end and the side walls of the nesting block 12 are contacted with the inner wall of the shell 14 through the steel balls 11. The lower connector 15 is fixedly mounted at the bottom end of the housing 14.
2. Rigidity adjusting mechanism 5
The rigidity adjusting mechanism 5 is used for adjusting the rigidity of the force measuring branch. The rigidity adjusting mechanism 5 is a four-bar linkage 17 structure formed by connecting four groups of rigidity adjusting components end to end in sequence through the connecting bars 17. Each set of stiffness adjustment assemblies includes a housing 16, an adjustment assembly secured to the housing 16, and at least one locking assembly.
The adjustment assembly is used to adjust the position of the link 17. The adjustment assembly includes a ratchet shaft 30 rotatably coupled to the housing 16, the ratchet shaft 30 having a twist switch 20, a ratchet 18 and a large gear 21 mounted thereon. The connecting rod 17 connecting two adjacent stiffness adjustment assemblies is fixedly connected at one end to the housing 16 of one of the stiffness adjustment assemblies and at the other end to the ratchet shaft 30 of the other stiffness adjustment assembly. The twist switch 20, the connecting rod 17 are arranged outside the shell 16, and the ratchet wheel 18 and the large gear 21 are arranged inside the shell 16. The turning switch 20 is turned, and the ratchet shaft 30 drives the ratchet 18, the large gear 21 and the connecting rod 17 to rotate together.
The locking assembly is used to lock the rotational position of the ratchet 18. Four locking assemblies are uniformly arranged along the circumference of the ratchet wheel 18 in the embodiment. The locking assemblies are secured within the housing 16, each locking assembly comprising a cam shaft 31, two flexible support blocks 19. A cam shaft 31 is rotatably connected to the housing 16, and a cam 23 and a pinion gear 22 engaged with the large gear 21 are fixedly mounted on the cam shaft 31, the cam 23 being interposed between the two flexible support blocks 19. Each flexible support block 19 is spring-mounted to the housing 16.
In the locking assembly, the opening position of the torsion switch 20 corresponds to the unlocking position of each flexible supporting block 19 which is separated from the ratchet wheel 18, and the closing position of the torsion switch 20 corresponds to the locking position of each flexible supporting block 19 which is used for locking the ratchet wheel 18. Namely, the torsion switch 20 is rotated to drive the large gear 21 and the ratchet wheel 18 to coaxially rotate, the large gear 21 drives all the small gears 22 in the locking assembly to coaxially rotate, the small gears 22 drive the cams 23 to coaxially rotate, and the rotation of the cams 23 enables the gap between the two corresponding flexible supporting blocks 19 to change, so that the flexible supporting blocks 19 are controlled to be clamped on the ratchet wheel 18 to lock the ratchet wheel 18 or separated from the ratchet wheel 18 to unlock the ratchet wheel 18.
The rigidity adjusting mechanism 5 is hinged with the lower connecting piece 15 through a ratchet shaft 30 of an upper rigidity adjusting assembly, and is hinged with the mounting strut of the force sensor 6 through a ratchet shaft 30 of a lower rigidity adjusting assembly.
3. Force sensor 6
The force sensor 6 is assembled at the bottom end of the rigidity adjusting mechanism 5, and elements for measuring force in the prior art, such as an S-shaped force sensor and a spoke-type force sensor are adopted.
4. Length compensation mechanism 7
The length compensation mechanism 7 is used for compensating the length change of the rigidity adjusting mechanism 5, so that the whole length of the force measuring branch is kept unchanged. The length compensation mechanism 7 comprises a base 24, an upper wedge 25, a lower wedge 26.
The upper wedge-shaped block 25 is fixedly connected with the bottom end of the force sensor 6, and positioning protrusions 28 are symmetrically and fixedly arranged on two sides of the upper wedge-shaped block 25. The lower wedge-shaped block 26 is slidably connected with the upper wedge-shaped block 25 through a wedge-shaped groove 29 which is arranged obliquely up and down, and when the lower wedge-shaped block 26 slides, the upper wedge-shaped block 25 slides relatively in the wedge-shaped groove 29, so that the force sensor 6 is driven to move up and down. The base 24 is slidably connected to the lower wedge 26, and in order to make the axis of the force sensor 6 perpendicular to the sliding direction of the upper wedge 25, the contact surface between the base 24 and the lower wedge 26 is an inclined surface perpendicular to the axis of the force sensor 6. The base 24 is symmetrically and fixedly connected with a positioning lug 27 with a U-shaped through groove, and the positioning lug 28 can be connected in the through groove in a vertical sliding way.
Example 2A parallel Multi-dimensional force sensor with Adjustable stiffness
As shown in fig. 9, this embodiment comprises a force-bearing platform 1, a fixed platform 3 and at least one set of stiffness-adjustable force-measuring branches 2 of embodiment 1 arranged in parallel. The stationary platform 3 may be used in connection with a robot body. The stress platform 1 can be used for installing a part, such as a prop, a hand grip and the like, of a robot, which needs to be measured. The top end of an upper connecting piece 8 of the decoupling mechanism 4 is fixedly arranged on the stress platform 1, and the bottom end of a base 24 of the length compensation mechanism 7 is fixedly arranged on the fixed platform 3.
When the multi-dimensional force is measured by using the embodiment, the stress platform 1 is stressed, the stress is mapped to each rigidity-adjustable force measuring branch 2, the stress of each rigidity-adjustable force measuring branch 2 is read out through the force sensor 6 on each rigidity-adjustable force measuring branch 2, and the stressed external force is calculated through the stress balance relation.
When the rigidity of each rigidity-adjustable force measuring branch 2 is uneven or the whole rigidity of each rigidity-adjustable force measuring branch 2 needs to be adjusted, the method is carried out according to the following steps:
s1, unlocking rigidity adjusting mechanism 5
The twist switch 20 is turned to disengage the flexible support block 19 from the ratchet 18, and the flexible support block 19 is in the unlocked position. The four-bar 17 structure formed by the four groups of rigidity adjusting components and the connecting bars 17 can be rotationally adjusted, and the rigidity of the rigidity-adjustable force measuring branch 2 can be adjusted by changing the angle between the connecting bars 17.
S2, adjusting a length compensation mechanism 7
The lower wedge 26 slides on the base 24 and the upper wedge 25 slides relatively in the wedge groove 29, thereby driving the force sensor 6 to move up and down. Simultaneously, the positioning bulge 28 slides up and down in the through groove of the positioning lug 27 so as to compensate the length change caused by the rigidity adjusting mechanism 5, and the length of the whole rigidity-adjustable force measuring branch 2 is kept unchanged.
S3, locking rigidity adjusting mechanism 5
After the rigidity of the rigidity-adjustable force measuring branch 2 is adjusted, the torsion switch 20 is rotated, each flexible supporting block 19 locks the ratchet wheel 18, and the flexible supporting blocks 19 are in locking positions.
It should be noted that the foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but the present invention is described in detail with reference to the foregoing embodiment, and it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a force measurement branch with adjustable rigidity which characterized in that: the device comprises a decoupling mechanism for decoupling stress, a rigidity adjusting mechanism, a force sensor and a length compensating mechanism, wherein the rigidity adjusting mechanism is assembled at the bottom end of the decoupling mechanism and used for adjusting the rigidity of a branch;
the rigidity adjusting mechanism is formed by sequentially connecting four groups of rigidity adjusting components through connecting rods, and each group of rigidity adjusting components comprises an adjusting assembly, at least one locking assembly and a locking assembly, wherein the adjusting assembly is fixed on the shell and used for adjusting the position of the connecting rod;
the adjusting assembly comprises a ratchet shaft rotationally connected with the shell, and a torsion switch, a ratchet and a large gear are fixedly arranged on the ratchet shaft; one end of each connecting rod is fixedly connected with the shell of one rigidity adjusting assembly, and the other end of each connecting rod is fixedly connected with the ratchet shaft of the other rigidity adjusting assembly;
the locking assembly comprises a cam shaft and two flexible supporting blocks, the cam shaft is rotatably connected to the shell, the flexible supporting blocks are fixedly arranged on the shell through springs, a cam and a pinion gear meshed with the large gear are fixedly arranged on the cam shaft, and the cam is arranged between the two flexible supporting blocks; the opening position of the torsion switch corresponds to the unlocking position of each flexible supporting block separated from the ratchet wheel, and the closing position of the torsion switch corresponds to the locking position of each flexible supporting block locked with the ratchet wheel.
2. The stiffness adjustable force branch of claim 1, wherein: the decoupling mechanism comprises a shell, a connecting column and a nesting block;
the bottom end of the connecting column penetrates into the shell and is fixedly connected with a nested block arranged in the shell;
the upper end, the lower end and the side wall of the nesting block are respectively provided with a groove for placing the steel balls, and the upper end, the lower end and the side wall of the nesting block are contacted with the inner wall of the shell through the steel balls.
3. Force branch with adjustable stiffness according to claim 1 or 2, characterized in that: the length compensation mechanism comprises a base, an upper wedge block and a lower wedge block;
the upper wedge block is fixedly connected with the force sensor and is fixedly provided with a positioning bulge;
the lower wedge block is provided with a wedge groove in an up-down inclined manner, and the upper wedge block is connected in the wedge groove in a sliding manner;
the base is in sliding connection with the lower wedge block, the base is fixedly connected with a positioning lug with a through groove, and the positioning bulge is vertically and slidably connected in the through groove.
4. The utility model provides a parallelly connected multidimensional force sensor with adjustable rigidity which characterized in that: the stiffness-adjustable force measuring branch comprises a stress platform, a fixed platform and at least one group of stiffness-adjustable force measuring branches which are arranged in parallel, wherein the top end of a decoupling mechanism is fixedly arranged on the stress platform, and the bottom end of a length compensation mechanism is fixedly arranged on the fixed platform.
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| CN202111498051.8A CN114152381B (en) | 2021-12-09 | 2021-12-09 | Rigidity-adjustable force measuring branch and corresponding parallel multidimensional force sensor |
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| CN114152381B true CN114152381B (en) | 2023-07-07 |
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| CN111122051A (en) * | 2020-01-13 | 2020-05-08 | 厦门理工学院 | Six-dimensional force sensor test platform |
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| CN106226152B (en) * | 2016-07-08 | 2018-06-01 | 吉林大学 | Material mechanical property in-situ tests System and method under quiet Dynamic Load Spectrum |
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|---|---|---|---|---|
| CN101104264A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Precision assembling mechanical arm with parallel structure six-dimension force sensing |
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104236794A (en) * | 2014-10-13 | 2014-12-24 | 大连交通大学 | Six-dimensional force transducer calibration device |
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