CN115144107B - Two-freedom decoupling force sensor capable of realizing high-precision and integrated processing - Google Patents
Two-freedom decoupling force sensor capable of realizing high-precision and integrated processing Download PDFInfo
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- CN115144107B CN115144107B CN202210792252.7A CN202210792252A CN115144107B CN 115144107 B CN115144107 B CN 115144107B CN 202210792252 A CN202210792252 A CN 202210792252A CN 115144107 B CN115144107 B CN 115144107B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
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Abstract
The invention provides a two-degree-of-freedom decoupling force sensor capable of realizing high-precision and integrated processing, belongs to the technical field of advanced manufacturing and precision engineering, and comprises a basic module and a force measurement system. The force measurement system includes four pressure sensors and four adjusting bolts. The base module is an installation base of the force measurement system and also has a force decoupling function, the base module comprises four decoupling translation hinges with the same structure, and each decoupling translation hinge comprises a U-shaped rigid block, a decoupling rigid block, an output rigid block and a plurality of flexible sheets. And fixing the force sensor in a mounting hole on the U-shaped rigid block through an adjusting bolt. The invention uses a compliant mechanism and has high precision; the decoupling translation hinge is used, so that the influence of mechanism coupling displacement can be greatly eliminated, and the motion decoupling hinge has good motion decoupling property; the whole basic module consists of the rigid blocks and the thin sheets, has simple and compact structure, can be integrally processed, and does not need to be assembled.
Description
Technical Field
The invention belongs to the technical field of advanced manufacturing and precision engineering, and relates to a two-degree-of-freedom decoupling force sensor capable of realizing high-precision and integrated processing.
Background
The decoupling force sensor with two degrees of freedom can decouple an input force in any direction in a plane into component forces in two directions and measure the component forces, and the decoupling force sensor disclosed at present mostly uses a plurality of groups of non-interfering sliding block structures to realize force decoupling.
Compliant mechanisms do not rely on kinematic pairs to achieve full motion and function as traditional rigid mechanisms do, but primarily rely on deformation of flexible members (thin rods, thin sheets, etc.) in the mechanism to achieve transfer and conversion of motion, force, and energy. Because the use of rigid kinematic pairs is reduced or even avoided, the compliant mechanism has the following advantages: the assembly requirement is reduced, no return error exists, no clearance and abrasion exist, high-precision motion can be realized, no friction and no noise exist, the service life is long, lubrication is not needed, the motion rigidity is adjustable, and the device can be used for energy storage and conversion and the like. Therefore, the compliant mechanism can provide a reference for a decoupling force sensor that achieves high precision and integrated processing.
Disclosure of Invention
The application provides a decoupling force sensor, satisfies high accuracy simultaneously, and two-dimentional cross axle motion decoupling zero can the integrated processing to and compact structure's characteristics.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
a two-degree-of-freedom decoupling force sensor capable of achieving high-precision and integrated machining comprises a base module 1 and a force measuring system 2. The base module 1 is an installation base of the force measurement system 2 and also has a force decoupling function. The force measuring system 2 comprises 4 pressure sensors 201 and 4 adjusting bolts 202, wherein the pressure sensors 201 are used for converting pressure signals into electric signals, and the adjusting bolts 202 are used for fixing the pressure sensors 201 and performing pre-tightening adjustment.
The pressure sensor 201 is a cylinder, and the pressure sensor 201 can convert the pressure value into an electric signal to be output through a cable by applying force between two end faces of the cylinder.
The basic module 1 comprises 4 decoupling translation hinges 3 with completely consistent structures, namely a decoupling translation hinge A301, a decoupling translation hinge B302, a decoupling translation hinge C303 and a decoupling translation hinge D304, wherein each decoupling translation hinge comprises 1U-shaped rigid block 3001,1 decoupling rigid block 3004,1 output rigid block 3007 and a plurality of flexible sheets.
The U-shaped rigid block 3001 is an incomplete rectangular frame with a notch 3011, the whole frame is U-shaped, and the frame edge of the rectangular frame has certain width and thickness, so that the whole U-shaped rigid block 3001 has high rigidity and is not easy to elastically deform. The U-shaped rigid block 3001 is of a symmetrical structure, and the notch 3011 is located on one edge of the frame. The edges described herein are the rims of rectangular frames with width and thickness, and the description of geometric "edges" is adopted for the convenience of understanding, and similar descriptions are not repeated herein after. For convenience of illustration, the direction of the side where the notch 3011 is defined as the Y-axis direction, the direction of the side perpendicular to the side where the notch 3011 is defined as the X-axis direction, and the Z-axis direction is determined according to the right-hand rule, so that the "U" shape of the U-shaped rigid block 3001 is located in the XY plane, the normal direction of the "U" shape is the Z-axis direction, and the cross section of the notch is parallel to the XZ plane. The section of the notch is a section formed by cutting off the notch 3011 at the edge where the notch 3011 is located. Three sides of the U-shaped rigid block 3001 passing through in the counterclockwise direction are defined as a side a3008, a side b3009, and a side c3010 (the side c3010 is also a middle cross beam). Where side a3008 and side c3010 are parallel to the X-axis direction and side b3009 is parallel to the Y-axis direction. The center of the side b3009 is provided with a hole for installing a pressure sensor, and the hole is provided with a groove for a pressure sensor cable to pass through.
The decoupling rigid block 3004 is a rectangular rigid block, and is disposed inside the U-shaped rigid block 3001, and has 2 sets of opposing surfaces parallel to the XY plane and the XZ plane, respectively, which are referred to as two surfaces parallel to the XZ plane as end surfaces. The two end faces of the decoupling rigid block 3004 are respectively overlapped with the notched cross section of the U-shaped rigid block 3001, so that the U-shaped rigid block 3001 and the decoupling rigid block 3004 can be connected by two flexible sheets (3002, 3005). The overlapping relationship is that the planes are overlapped, the components are not directly connected together through the surfaces, and the similar expressions are synonymous. The flexible sheets (3002 and 3005) are rectangular sheets and are parallel to an XZ plane, and the narrowest surface of the flexible sheets is parallel to or coincident with the XY plane, wherein the flexible sheet A3002 is connected with the notch section of the U-shaped rigid block 3001 and the end surface of the decoupling rigid block 3004 coincident with the notch section, and the flexible sheet B3005 is connected with the other notch section of the U-shaped rigid block 3001 and the other end surface of the decoupling rigid block 3004 coincident with the notch section.
The output rigid block 3007 is a rectangular rigid block, the space direction of the rectangular rigid block is consistent with that of the decoupling rigid block 3004 and is arranged in the notch 3011 of the U-shaped rigid block 3001, and a certain gap exists between the two end faces of the output rigid block 3007 and the cross section of the notch, so that the output rigid block 3007 can move in the notch along the Y-axis direction. The output rigid block 3007 is connected to the decoupling rigid block 3004 by two flexible sheets (3003, 3006), said flexible sheets (3003, 3006) being rectangular sheets and parallel to the XZ plane, the narrowest of which is parallel to or coincident with the XY plane. One end of the flexible sheet C is connected with the end face of the output rigid block 3007, the other end of the flexible sheet C is connected with the surface, facing the notch, of the decoupling rigid block 3004, and the flexible sheet D is connected with the other end face of the output rigid block 3007 and the surface, facing the notch, of the decoupling rigid block 3004. Further, all the members of the decoupling translation hinge 3 are equal in thickness in the Z-axis direction.
The decoupling translation hinge 3 is a plane mechanism, and the XY plane is the plane of the decoupling translation hinge 3. Because the flexible sheet can only bend in the direction of the degree of freedom of the flexible sheet, the output rigid block 3007 of the decoupling translation hinge 3 can only have the degree of freedom of movement in the direction of the Y axis, and because the decoupling rigid block 3004 exists, the output rigid block 3007 of the decoupling translation hinge can hardly generate coupling displacement around the Z axis when moving in the direction of the Y axis, and has good decoupling characteristics compared with a common parallelogram compliant translation hinge.
The 2 identical decoupling translation hinges A301 and B302 are arranged at right angles in space, and the specific positional relationship is as follows: the planes of the two are vertical to each other; the side c3010 of the decoupling translational hinge A301 is also the side c3010 of the decoupling translational hinge B302; the orientation of the notch of decoupling translation hinge A301 is opposite to the orientation of the notch of decoupling translation hinge B302. If the decoupling translation hinge C303 is added to the decoupling translation hinge C303 in sequence so that the decoupling translation hinge C303 is arranged at a right angle to the decoupling translation hinge B302 (the positional relationship is the same as that described above), the decoupling translation hinge D304 is added to the decoupling translation hinge C303 (the positional relationship is the same as that described above), the decoupling translation hinge D304 is also arranged at a right angle to the decoupling translation hinge a301, and the 4 decoupling translation hinges enclose 4 sides of a cube, wherein the notches of the decoupling translation hinges a301 and C303 are oriented in the same direction, and the notches of the decoupling translation hinges B302 and D304 are oriented in the same direction.
The output rigid blocks 3007 of A301 and C303 in the 4 decoupling translation hinges are connected into a whole by rigid beams, the output rigid blocks 3007 of B302 and D304 are connected into a whole by rigid beams, the obtained whole is called an interface rigid block 305, the base module 1 is provided with two interface rigid blocks 305, the two interface rigid blocks 305 are in a space vertical relationship, two longer side surfaces, close to mounting holes of the interface rigid block 305 and the pressure sensor 201, are called long side surfaces, the other longer side surface facing to the outer side is a top surface, and the outer side is a direction away from the area where the base module 1 is located.
The base module 1 is connected to the machine frame via an interface rigid block 305, the other interface rigid block 305 being used as a measuring force input.
The force sensor 201 is fixed in the mounting hole on the side b3009 by the adjusting bolt 202. Specifically, the method comprises the following steps: the pressure sensor 1 is inserted into the mounting hole, and then the adjusting bolt 202 is screwed in, so that one end face of the pressure sensor is abutted against the long side face of the interface rigid block 305, while the other end face of the pressure sensor 201 is abutted against by the adjusting bolt, and thus both long side faces of each interface rigid block 305 are abutted against by both pressure sensors. When a force parallel to the top surface of the rigid interface block 305 is input, due to the decoupling characteristic of the base module 1, the input force is decoupled into two forces parallel to the rigid interface blocks 305, and the two force components cause the measurement values of the pressure sensors located on the two sides of the rigid interface blocks 305 to deviate, so that the force components in two directions are measured respectively.
Further, the present invention can realize force measurement by arranging a strain gauge on the flexible thin sheet, in addition to the above-mentioned force measurement system 2.
Compared with a common decoupling force sensor, the decoupling force sensor has the advantages that:
1) The invention has high precision by applying a compliant mechanism, 2) the invention greatly eliminates the influence of mechanism coupling displacement by applying a decoupling translation hinge, so that the invention has good motion decoupling characteristic; 3) The whole basic module consists of the rigid block and the thin sheet, has simple and compact structure, can be integrally processed, and does not need to be assembled.
Drawings
FIG. 1 is an exploded view of an assembly of a two-degree-of-freedom decoupling force sensor capable of achieving high precision and integrated processing.
Fig. 2 is a schematic structural diagram of a basic module.
Fig. 3 is a schematic view of a decoupling moving hinge structure.
Fig. 4 is a schematic structural view of a U-shaped rigid block.
Fig. 5 is a schematic diagram of a closed square shape surrounded by 4 decoupling moving hinges.
In the figure: the device comprises a base module 1, a force measuring system 2, a pressure sensor 201, an adjusting bolt 202, a decoupling translation hinge 3, a decoupling translation hinge A301, a decoupling translation hinge B302, a decoupling translation hinge C303, a decoupling translation hinge D304, a rigid block 305 interface, a rigid block 3001U-shaped, a flexible sheet A3002, a flexible sheet C3003, a decoupling rigid block 3004, a flexible sheet B3005, a flexible sheet D3006, a rigid block 3007 output, a side a3008, a side B3009, a side C3010 and a notch 3011.
Detailed Description
For a better understanding of the present invention, reference is now made to the following descriptions taken in conjunction with the accompanying drawings.
Fig. 1 is an exploded view of an assembly of a two-degree-of-freedom decoupling force sensor capable of realizing high-precision and integrated processing according to the present invention. The invention comprises a base module 1 and a force measuring system 2, wherein the base module 1 is the installation base of the force measuring system 2 and has the function of force decoupling. The force measuring system comprises 4 pressure sensors 201 and 4 adjusting bolts 202, wherein the pressure sensors 201 are used for converting pressure signals into electric signals, and the adjusting bolts 202 are used for fixing the pressure sensors 201 and adjusting pretension.
Fig. 2 is a schematic structural diagram of the base module 1. The base module 1 mainly comprises 4 identical decoupling translation hinges 3 and 2 interface rigid blocks 305. The decoupling translation hinge 3 is shown in fig. 3 and is composed of a rigid block and a flexible sheet, wherein the rigid block includes a U-shaped rigid block 3001, a decoupling rigid block 3004 and an output rigid block 3007. As shown in fig. 4, the U-shaped rigid block 3001 has a rectangular frame structure with a notch 3011, the U-shaped rigid block 3001 is symmetrical about the X axis, three sides in the counterclockwise direction from the notch 3011 are defined as a side a3008, a side b3009 and a side c3010, wherein the sides a3008 and c3010 are the X axis direction, the side b3009 is the Y axis direction, and a mounting hole is formed in the middle of the side b 3009. The decoupling rigid block 3004 is a rigid rectangular block, and is located inside an area surrounded by three sides of the U-shaped rigid block 3001, and has two sets of opposing surfaces parallel to the XY plane and the XZ plane, and the surface parallel to the XZ plane is an end surface, and the end surface of the decoupling rigid block 3004 coincides with the notch section of the U-shaped rigid block 3001, so that the two notch sections of the U-shaped rigid block 3001 and the end surface of the decoupling rigid block coinciding with the notch section can be connected through the flexible sheet a3002 and the flexible sheet B3005, respectively. The flexible sheet A3002 and the flexible sheet B3005 are the same rectangular sheets, the narrow side surfaces of the rectangular sheets are coincident with or parallel to the XY plane, and the maximum side surface of the rectangular sheets is parallel with or coincident with the XZ plane. The output rigid block 3007 is a rectangular rigid block, and the spatial orientation of the rectangular rigid block is the same as that of the decoupling rigid block 3004, and the rectangular rigid block is located inside the notch 3011 of the U-shaped rigid block 3001. A gap exists between the end face of the output rigid block 3007 and the cross section of the notch, so that the output rigid block 3007 can move in the Y-axis direction in the notch 3011. The output rigid block 3007 and the decoupling rigid block 3004 are connected through a flexible sheet C3003 and a flexible sheet D3006, wherein the flexible sheet C3003 and the flexible sheet D3004 are identical rectangular sheets which are spatially parallel to the flexible sheets a3002 and B3005 and have the same orientation. One end of the flexible sheet C3003 and one end of the flexible sheet D3006 are respectively connected with two end surfaces of the output rigid block 3007, and the other end is connected with the surface of the decoupling rigid block facing the gap 3011. The flexible thin sheets can be elastically deformed, so that the output rigid block 3007 of the decoupling translation hinge 3 can move along the Y-axis direction, and due to the action of the decoupling rigid block 3004, the coupling displacement of the output rigid block 3007 around the Z axis is extremely small, and the decoupling performance is good.
The connection mode of the 4 decoupling translation hinges a301, B302, C303 and D304 is as shown in fig. 5, the planes of two adjacent decoupling translation hinges 3 are perpendicular to each other, and the notches face opposite directions, wherein the side C3010 of the decoupling translation hinge a301 coincides with the side C3010 of the decoupling translation hinge B302, the side a3008 of the decoupling translation hinge B302 coincides with the side a3008 of the decoupling translation hinge C303, the side C3010 of the decoupling translation hinge C303 coincides with the side C3010 of the decoupling translation hinge D302, and the side a3008 of the decoupling translation hinge D304 coincides with the side a3008 of the decoupling translation hinge a 301. The decoupling translation hinge a301 and the output rigid block 3007 of the decoupling translation hinge C303 are connected into a whole by a rigid beam to obtain an interface rigid block 305, the base module 1 has two interface rigid blocks 305, the two interface rigid blocks 305 are in a spatial vertical relationship, two longer side surfaces of the interface rigid block 305 close to the mounting hole of the pressure sensor 201 are long side surfaces, the other longer side surface facing to the outside is a top surface, and the outside is an outward direction away from the area of the base module 1.
The force sensor 201 is fixed in the mounting hole on the side b3009 by the adjusting bolt 202. Specifically, the method comprises the following steps: the pressure sensor 1 is inserted into the mounting hole, and then the adjusting bolt 202 is screwed in, so that one end face of the pressure sensor is abutted against the long side face of the interface rigid block 305, while the other end face of the pressure sensor 201 is abutted against by the adjusting bolt, and thus both long side faces of each interface rigid block 305 are abutted against by both pressure sensors. In use, one interface rigid block 305 is attached to the frame and the other interface rigid block 305 is used to measure force input.
In addition to the force measurement system 2, the force measurement system can also realize force measurement in a mode of arranging a strain gauge on a flexible thin sheet.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (3)
1. The two-degree-of-freedom decoupling force sensor is characterized by comprising a base module (1) and a force measuring system (2); the basic module (1) is an installation basis of the force measuring system (2) and has a force decoupling function; the force measuring system (2) comprises 4 pressure sensors (201) and 4 adjusting bolts (202), wherein the pressure sensors (201) are used for converting pressure signals into electric signals, and the adjusting bolts (202) are used for fixing the pressure sensors (201) and performing pre-tightening adjustment;
the basic module (1) comprises 4 decoupling translation hinges (3) with completely consistent structures, namely a decoupling translation hinge A (301), a decoupling translation hinge B (302), a decoupling translation hinge C (303) and a decoupling translation hinge D (304), wherein each decoupling translation hinge comprises 1U-shaped rigid block (3001), 1 decoupling rigid block (3004), 1 output rigid block (3007) and a plurality of flexible sheets;
the U-shaped rigid block (3001) is an incomplete rectangular frame with a notch (3011) and is U-shaped as a whole; the U-shaped rigid block (3001) is of a symmetrical structure, the gap (3011) is located on one side of the frame, and a mounting hole is formed in a cross beam in the middle of the U-shaped rigid block (3001); defining the direction of the side where the notch (3011) is located as a Y-axis direction, the direction of the side perpendicular to the side where the notch (3011) is located as an X-axis direction, and determining the direction of a Z-axis according to the rule of right hand, so that the U-shaped rigid block (3001) is located in an XY plane, the normal direction of the U-shaped rigid block is the Z-axis direction, and the section of the notch is parallel to an XZ plane; three sides passing through in the anticlockwise direction of the side where the notch in the U-shaped rigid block (3001) is located are defined as a side a (3008), a side b (3009) and a side c (3010), a hole used for installing a pressure sensor is formed in the center of the side b (3009), and a groove is formed in the hole and used for a pressure sensor cable to pass through;
the decoupling rigid block (3004) is a rectangular rigid block and is arranged inside the U-shaped rigid block (3001), two end faces of the decoupling rigid block (3004) are respectively superposed with the section of the notch of the U-shaped rigid block (3001), and the U-shaped rigid block (3001) is connected with the decoupling rigid block (3004) through two flexible sheets ((3002), (3005)); the flexible sheet ((3002), (3005)) is a rectangular sheet and is parallel to the XZ plane;
the output rigid block (3007) is a rectangular rigid block, the space orientation of the rectangular rigid block is consistent with that of the decoupling rigid block (3004) and is arranged in a gap (3011) of the U-shaped rigid block (3001), a certain gap exists between the two end faces of the output rigid block (3007) and the cross section of the gap, and the output rigid block (3007) can move in the gap along the Y-axis direction; the output rigid block (3007) is connected with the decoupling rigid block (3004) through two flexible sheets ((3003), (3006)), wherein the flexible sheets ((3003), (3006)) are rectangular sheets and are parallel to the XZ plane, one end of each flexible sheet is connected with the end face of the output rigid block (3007), and the other end of each flexible sheet is connected with the surface, facing the gap, of the decoupling rigid block (3004);
the decoupling translation hinge (3) is a plane mechanism, and the XY plane is the plane where the decoupling translation hinge (3) is located; all components of the decoupling translation hinge (3) are equal in thickness in the Z-axis direction;
the 2 identical decoupling translation hinges A (301) and B (302) are arranged at right angles in space, and the specific position relationship is as follows: the decoupling translation hinge A (301) and the decoupling translation hinge B (302) share one edge, the planes of the decoupling translation hinge A and the decoupling translation hinge B are perpendicular to each other, and the direction of gaps of the decoupling translation hinge A and the direction of gaps of the decoupling translation hinge B are opposite; similarly, the decoupling translation hinge C (303) is sequentially added into the decoupling translation hinge C to enable the decoupling translation hinge C to be arranged at a right angle with the decoupling translation hinge B (302), the decoupling translation hinge D (304) is added into the decoupling translation hinge C to enable the decoupling translation hinge D to be arranged at a right angle with the decoupling translation hinge C (303), the decoupling translation hinge D (304) is also arranged at a right angle with the decoupling translation hinge A (301), and then 4 sides of a cube are defined by the 4 decoupling translation hinges, wherein notches of the decoupling translation hinges A (301) and the C (303) are in the same orientation, and notches of the decoupling translation hinges B (302) and the D (304) are in the same orientation;
connecting the output rigid blocks (3007) of A (301) and C (303) in the 4 decoupling translation hinges into a whole by using rigid beams, connecting the output rigid blocks (3007) of B (302) and D (304) into a whole by using rigid beams, and calling the obtained whole as an interface rigid block (305), wherein the base module (1) is provided with two interface rigid blocks (305), the two interface rigid blocks (305) are in a space vertical relationship, two longer side surfaces, close to mounting holes of the interface rigid block (305) and the pressure sensor (201), are defined as long side surfaces, the other longer side surface facing to the outside is a top surface, and the outside is a direction far away from the area where the base module (1) is located;
the basic module (1) is connected with the frame through an interface rigid block (305), and the other interface rigid block (305) is used as a measuring force input end;
fixing the force sensors (201) in mounting holes on the side b (3009) through adjusting bolts (202), enabling one end face of each pressure sensor to be tightly attached to the long side face of the interface rigid block (305), and enabling the other end face of each pressure sensor (201) to be abutted by the adjusting bolt, so that two long side faces of each interface rigid block (305) are abutted by the two pressure sensors; when a force parallel to the top surface of the interface rigid block (305) is input, due to the decoupling characteristic of the base module (1), the input force is decoupled into two forces parallel to the two interface rigid blocks (305), and then the force components in two directions are measured.
2. The integrated two-degree-of-freedom decoupling force sensor as claimed in claim 1, characterized in that in addition to the use of the force measuring system (2), force measurement is also possible by means of strain gauges arranged on the flexible foil.
3. The integrally-processed two-degree-of-freedom decoupling force sensor as claimed in claim 1, wherein the pressure sensor (201) is a cylinder, a force is applied between two end faces of the cylinder, and the pressure sensor (201) converts a pressure value into an electric signal and outputs the electric signal through a cable.
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| CN111890128A (en) * | 2020-08-25 | 2020-11-06 | 河南理工大学 | Force measurement type piezoelectric fast knife servo device with three-dimensional decoupling |
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