CN115683438B - Three-dimensional contact force measuring method of L-shaped structure - Google Patents
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Abstract
The invention discloses a three-dimensional contact force measuring method of an L-shaped structure, which comprises the following steps: vertically connecting the first I-type three-dimensional structure and the second I-type three-dimensional structure in series to form an L-type structure; dividing the L-shaped structure into an F-shaped component, a first double-F-shaped component and a second double-F-shaped component; and placing the L-shaped structure according to a set mode to obtain a placed L-shaped structure, applying forces in the y-axis direction, the x-axis direction and the z-axis direction to the placed L-shaped structure, and respectively calculating to obtain a single-axis force Fy, a single-axis force Fx and a single-axis force Fz of the L-shaped structure. The invention can improve the sensitivity of triaxial force, and further simply, conveniently and efficiently measure and obtain the three-dimensional contact force.
Description
Technical Field
The invention relates to the field of three-dimensional contact force, in particular to a three-dimensional contact force measuring method of an L-shaped structure.
Background
The contact is a basic interaction mode of taking and placing operation, movement and household labor by the robot. The contact force perception is one of the requirements of the robot for safe grabbing, collision avoidance and dexterous hand operation. Currently, methods of measuring contact forces mainly include tactile sensors and force sensors embedded on robotic joints and limb segments.
The tactile sensor is integrated into the fingertip or the whole area of the robot, providing the robot with the ability to identify the gripped object and the contact/pressure location. But the applicability is limited by complex structure, difficult normal force and shear coupling and manufacturing scheme, etc.
The force sensor is integrated into a robot joint, such as a wrist or arm force sensor, and can indirectly estimate the gravity and inertia of an object, but cannot estimate the fingertip contact force of each finger. While the fingertip contact force can be compensated by force sensors embedded in the fingertip and finger joints, integrating external sensors complicates the joint and fingertip structure, has limited space available, and increases costs. And limited by the commercial sensor structure, the complexity of the structural design and the manufacturing difficulty are increased, and the mechanical strength of the joint structure is reduced.
Therefore, a three-dimensional contact force measuring method with an L-shaped structure is needed, and the problems of high measuring complexity and high difficulty of the sensor are solved.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a three-dimensional contact force measuring method with an L-shaped structure, which can improve the sensitivity of triaxial force, and further measure three-dimensional contact force simply, conveniently and efficiently.
The invention relates to a three-dimensional contact force measuring method of an L-shaped structure, which comprises the following steps:
Vertically connecting the first I-type three-dimensional structure and the second I-type three-dimensional structure in series to form an L-type structure; the second I-shaped three-dimensional structure is a contact piece, and the first I-shaped three-dimensional structure is used for connecting the second I-shaped three-dimensional structure with other components;
Taking a second I-type three-dimensional structure in the L-type structure as an F-type component; taking one surface projected into an L shape in the L-shaped structure as a target surface, and taking a part containing a first I-shaped three-dimensional structure in the target surface as a first double-F-shaped component; taking the side surface adjacent to the first double-F-shaped component in the side surface of the first I-shaped three-dimensional structure as a second double-F-shaped component;
Placing the L-shaped structure according to a set mode to obtain a placed L-shaped structure, applying forces in the directions of a y axis, an x axis and a z axis to the placed L-shaped structure, and respectively calculating to obtain a single-axis force Fy, a single-axis force Fx and a single-axis force Fz of the L-shaped structure; wherein the vertical direction is taken as the y-axis direction, the direction perpendicular to the y-axis direction and parallel to the first dual F-shaped component is taken as the x-axis direction, and the direction perpendicular to the y-axis direction and parallel to the second dual F-shaped component is taken as the z-axis direction.
Further, a fulcrum A and a fulcrum B are arranged at the bottom of the F-shaped component; and a plurality of strain gauges are arranged on the fulcrum A and a plurality of strain gauges are arranged on the fulcrum B.
Further, the uniaxial force Fy is determined according to the following formula:
Wherein ε A1 and ε A2 are both tensile strains on fulcrum A; epsilon B1 and epsilon B2 are compression strain on a fulcrum B; the k yy＝((l-c)/b1+l/b2)/2cδ2 E; wherein l is the length of the F-shaped component; c is the distance between the center point of the fulcrum A and the center point of the fulcrum B; b 1 is the width of the fulcrum a; b 2 is the width of the fulcrum B; delta 2 is the thickness of fulcrum A; e is Young's modulus.
Further, a fulcrum G and a fulcrum H are arranged on the surface of the first double F-shaped component; and a plurality of strain gauges are arranged on the fulcrum G and a plurality of strain gauges are arranged on the fulcrum H.
Further, the uniaxial force Fz is determined according to the following formula:
Wherein ε H1 and ε H2 are both tensile strains on fulcrum H; epsilon G1 and epsilon G2 are compression strain on a fulcrum G; and k zz is the strain sensitivity corresponding to the z axis.
Further, a fulcrum C and a fulcrum D are arranged on the surface of the second double-F-type component; and a plurality of strain gauges are arranged on the pivot C and the pivot D.
Further, the uniaxial force Fx is determined according to the following formula:
Wherein ε D1 and ε D2 are both tensile strains on fulcrum D; epsilon C1 and epsilon C2 are both compressive strain on fulcrum C; and k xx is the strain sensitivity corresponding to the x axis.
Further, the L-shaped structure is placed according to a set mode, and specifically comprises the following steps: the first I-shaped three-dimensional structure is placed vertically and the second I-shaped three-dimensional structure is located above the first I-shaped three-dimensional structure.
The beneficial effects of the invention are as follows: the invention discloses a three-dimensional contact force measuring method of an L-shaped structure, which is characterized in that a finger tip/foot end is rebuilt into an L-shaped structure by developing a Lever type strain exposure method (English: lever-Type Method of Strain Exposure, which is abbreviated as LTMSE), and the L-shaped structure comprises f-shaped components in three orthogonal directions and is respectively used for sensing Fx, fy and Fz. LTMSE enable the corresponding f-module to perform a uniaxial tension-compression deformation mode when a contact force occurs. The f-shaped element consists of a fulcrum pair with surface attached strain gauges and a lever arm. By means of the deformation mode, the lever arm amplifies the moment effect on the fulcrum pair, which in turn exposes the positive and negative strain. The fulcrum provides a consistent lever arm to a greater strain exposure designed to be thinner. By differential measurement, the sensitivity of the triaxial force is improved, and the three-dimensional contact force can be accurately and efficiently measured.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a diagram of a triaxial force sensing force analysis of an L-shaped structure according to the present invention;
FIG. 2 is a schematic diagram of the components of form f of the present invention, component 1;
FIG. 3 is a schematic representation of the present invention for double f-type component 2 and double f-type component 3;
FIG. 4 is a schematic illustration of a strain gage arrangement of the dual f-type component 2 of the present invention;
FIG. 5- (a) is a schematic diagram of the equivalent strain under the action of Fy in form f component 1 of the present invention;
FIG. 5- (b) is a schematic diagram of the equivalent strain under the effect of Fx in form f of the present invention component 1;
FIG. 5- (c) is a schematic diagram of the equivalent strain under the action of Fz in form f component 1 of the present invention;
FIG. 6 is a schematic diagram of the structural adjustment of the mechanical coupling under Fx reduction according to the present invention;
FIG. 7- (a) is a schematic diagram of the equivalent strain under the effect of Fx in the double f-type component 2 of the present invention;
FIG. 7- (b) is a schematic diagram of the equivalent strain under the action of Fy in the double f-type component 2 of the present invention;
FIG. 7- (c) is a schematic representation of the equivalent strain under the action of Fz in the double f-type component 2 of the present invention;
FIG. 8- (a) is a schematic diagram showing sensitivity under Fx in the L-shaped structure of the present invention;
FIG. 8- (b) is a schematic diagram showing sensitivity under Fy in the L-shaped structure of the present invention;
FIG. 8- (c) is a schematic diagram showing sensitivity at Fz in the L-shaped structure of the present invention;
Fig. 9 is a schematic diagram showing the balance improvement of the L-shaped structure of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the invention relates to a three-dimensional contact force measuring method of an L-shaped structure, which comprises the following steps:
Vertically connecting the first I-type three-dimensional structure and the second I-type three-dimensional structure in series to form an L-type structure; the second I-shaped three-dimensional structure is a contact piece, and the first I-shaped three-dimensional structure is used for connecting the second I-shaped three-dimensional structure with other components;
Taking a second I-type three-dimensional structure in the L-type structure as an F-type component; taking one surface projected into an L shape in the L-shaped structure as a target surface, and taking a part containing a first I-shaped three-dimensional structure in the target surface as a first double-F-shaped component; taking the side surface adjacent to the first double-F-shaped component in the side surface of the first I-shaped three-dimensional structure as a second double-F-shaped component;
Placing the L-shaped structure according to a set mode to obtain a placed L-shaped structure, applying forces in the directions of a y axis, an x axis and a z axis to the placed L-shaped structure, and respectively calculating to obtain a single-axis force Fy, a single-axis force Fx and a single-axis force Fz of the L-shaped structure; wherein the vertical direction is taken as the y-axis direction, the direction perpendicular to the y-axis direction and parallel to the first dual F-shaped component is taken as the x-axis direction, and the direction perpendicular to the y-axis direction and parallel to the second dual F-shaped component is taken as the z-axis direction. Placing the L-shaped structure according to a set mode, wherein the L-shaped structure specifically comprises: the first I-shaped three-dimensional structure is placed vertically and the second I-shaped three-dimensional structure is located above the first I-shaped three-dimensional structure.
In this embodiment, as shown in fig. 1, when the robot performs the moving, manipulating and probing tasks, the contact force from the end effector tip can be decomposed into three axial forces Fx, fy and Fz; the fingers and feet of the robot are of a connecting rod type structure. The uniaxial force sensing using the lever type strain exposure method (LTMSE for short) is based on the moment effect of the fulcrum pair (strain measurement area). The fulcrum pairs exhibit a uniaxial tensile strain pattern, exposing uniform negative and positive strains (same absolute values) and linear with the force of interest. The sensitivity and linearity of the force of interest is improved by wheatstone bridge measurements. The moment effect is generated by the lever, and is amplified with the increase of the length of the lever arm, thereby further improving the sensitivity.
Triaxial force sensing requires an advantageous strain pair expansion in uniaxial tension and compression deformation mode. However, only two moment effects (i.e., two fulcrum pairs aligned in orthogonal directions) can be generated by one lever arm for two-axis force sensing, and force sensing along the axial direction of the lever arm is lost. Upon actuation of the robot finger/foot linkage, we add a second lever arm (second I-type three-dimensional structure) that is vertically connected in series with the other (first I-type three-dimensional structure) to compensate for the loss of axial force. Because the reconstruction method is based on the shape characteristics of the end effector, the space utilization can be improved, and the problem of weak rigidity caused by a plurality of series connections (such as three orthogonal levers connected in series) can be avoided.
In this embodiment, the first I-type three-dimensional structure and the second I-type three-dimensional structure are vertically connected in series to form an L-type elastomer, and as shown in fig. 1, the elastomer includes three f-type components: f-type component 1 (F-type component), double F-type component 2 (first double F-type component), and double F-type component 3 (second double F-type component). By analyzing the uniaxial force measurements corresponding to each f-shaped member; i.e. Fx measurement of f-component 1, fy measurement of double f-component 2, fz measurement of double f-component 3.
Uniaxial force sensing of each component is based on LTMSE; to better understand the force measurement based on this approach, we take the f-component 1 as an example without loss of generality. When Fy is applied, corresponding occurs at fulcrums a and B (see fig. 2) that expose uniaxial tensile and compressive strain, respectively; strain gauges are mounted on fulcrums a and B in the y-direction to detect exposure to tensile strain (positive strain epsilon A1＝εA2＝Fy(l-c)/Eb1δ2 c) and compressive strain exposure (negative strain epsilon B1＝εB2＝Fyl/Eb2δ2 c);
Wherein B 1 and B 2 are the widths of the fulcrums a and B, respectively, c is the distance between them, δ 1 and δ 2 are the thicknesses of the lever arm and the two fulcrums, respectively, l is the length of the lever arm, and E is the young's modulus. Theoretically, strain exposure on pivot A and pivot B can be achieved by
Then, the four strain gauges are connected into an oilstone bridge structure, and based on differential mode measurement, the strain gauges pass
Producing Fy.
Wherein k yy＝((l-c)/b1+l/b2)/2cδ2E;kyy is the y-axis strain sensitivity.
Thus, the f-shaped component 1 can measure Fy.
Strain gauges can only be placed in the lateral position. In this work, strain is directly exposed to the end effector rather than a separate force sensor, increasing the flexibility of the structural design. The thickness delta 2 of the dual pivot point is 6mm, which can leave enough accessible area for the mounted strain gauges on the side. Because the two-sided deformation mode is the same, the force measurement of the f-shaped member is hardly affected.
Since the double f-components 2 and 3 need to withstand greater moments Mx and Mz than the f-component 1, we double the pivot point symmetrically (as in fig. 3) to enhance robustness. Using the same principle as for the F-shaped component 1, when Fz or Fx is loaded, the corresponding Mx or Mz is generated at the pivot point G (H, I, J) or C (D, E, F) that exhibits uniaxial tensile and compressive strain, respectively.
The strain gauges are bonded to the z-direction fulcrums G and H and to the x-direction fulcrums C and D.
Fz and Fx are obtained by differential mode measurement, respectively. The formula is as follows:
Wherein k zz and k xx are z-axis and x-axis strain sensitivities, ε G1＝εG2,εH1＝εH2,εC1＝εC2 and ε D1＝εD2, respectively;
and (3) adopting (2) - (4) for actually measuring strain of the strain gauge, and realizing independent triaxial force sensing.
Fig. 4 shows a strain gage arrangement for a dual f-shaped component 2 (which may also be used for the dual f-shaped component 3) based on differential modal measurements.
Further, to observe LTMSE the decoupling properties under triaxial force components, we expect that the strain output under the corresponding force component is greater and the strain output under other axial force components is zero by exposing uniaxial tensile and compressive strain (differential modal measurement) at the fulcrum.
By the same magnitude and same direction of strain exposure at the pivot point, zero strain output can be achieved, so that the wheatstone bridge can use common mode measurements to offset the effects of other axial forces, or can be achieved with relatively little strain exposure (considered zero). Each component is loaded by Fx, fy, fz, respectively, and then strain outputs:
(Sx＝((εD1-εC1)+(εD2-εC2))/4,
Sy＝((εA1-εB1)+(εA2-εB2))/4,
Sz＝((εH1-εG1)+(εH2-εG2))/4)
Is the corresponding calculation performed in ANSYS. The payload capacity is limited by fulcrum compliance. The dimensions of the fulcrum are about 3mm by 6mm by 3mm, and can bear a load of approximately 200N (material: stainless steel, in the case of Calculated in the above). Then, a force vector f= [ F x,Fy,Fz]T and a strain output vector s= [ S x,Sy,Sz]T are expressed as
S＝KF+C (5)
Where k= [ K ij ] (i, j=x, y, z) is a sensitivity matrix of 3×3, and c= [ C i ] (i=x, y, z) is an intercept matrix.
Furthermore, to quantify interference, we use a3×3 matrix v= [ V ij ] (i, j=x, y, z)
Wherein S ij represents the maximum value of the i-axis strain output under full-size j-axis force, and S ii represents the maximum value of the i-axis strain output under maximum load i-axis force.
The complete decoupling property of LTMSE can be described by the diagonal matrices K and V (i.e., the off-diagonal value is zero).
① F-type component 1:
When F y and F z are loaded (fig. 5 (a) and (c), respectively), a strain sensitivity k yy =2.37 με/N and k yz =0 με/N is obtained; crosstalk v yz = 3.73E-04 (strain output S yy = 482.00 mu epsilon,
Below F y =200n; maximum strain output S yz =0.18 μ, lower than F z =200n.) the (e A1＝εA2＝εB1＝εB2)Syz) is difficult to obtain due to the same ideal strain output.
The equivalent strain value shown at the fulcrum is almost the same as the absolute strain value on the y-axis due to the uniaxial tension-compression deformation mode.
However, when Fx is applied, mz is correspondingly generated on the fulcrum as shown in fig. 5 (b); i.e., the two fulcrums exhibit uniaxial tensile strain exposure (differential mode measurement Syx is not equal to 0), so the cross sensitivity of Fx kyx.
To solve this mechanical coupling problem, we move the loading point to the fulcrum centerline, as shown in fig. 6, to reduce the mechanical arm of Fx, thereby attenuating the effect of Mz. From the right part of fig. 6, a corresponding decrease from 106.00 μ epsilon to 1.52 μ epsilon (v yx＝3.15E-03,kyx =0 μ epsilon/N) in strain S yx at y increasing from 0mm to 5.5mm F x (200N) indicates a decrease in mechanical coupling.
② Double f-type component 2 and double f-type component 3:
When Fx acts on the double F-shaped member 2, the fulcrums C, D, E and F assume a uniaxial tension-compression deformation mode (fig. 3). Due to the presence of the dual fulcrum pair, there are a variety of strain gauge arrangements (fig. 4). The choice between these arrangements is based on the decoupling property that the strain sensitivity k xx of Fx is highest and the cross sensitivity of Fy and Fz is zero. We loaded triaxial forces separately (see fig. 7) and compared the sensitivity between these arrangements and summarized in table i.
TABLE I
The equivalent strain value shown at C, D fulcrum is almost the same as the absolute strain value on the x-axis due to the uniaxial tension-compression deformation mode.
From the results we have chosen rank 1 (as in FIG. 4) because k xx is highest and the difference between k xx and k xy is largest (up to 0.14. Mu.. Epsilon./N). The data in the shadow (xyk) is not needed. This is because: fy produces Mz, which is detected by the double f-shaped component 2. When Mz acts on C, D, E and F fulcrums (fig. 7 (b)), the loaded strain gauge detects a cross sensitivity k xy =0.35 μ/N (mechanical coupling). To reduce coupling, during strain measurement we reduce Sx (at Fy), the decoupling equation of which is expressed as
Wherein,Representing the calculated original strain output of ANSYS, the maximum strain output was reduced from 70.00 mu epsilon to 0.22 mu epsilon by using (7) Fy (200N).
Since the strain gauges of the double f-shaped components 2 and 3 are identical in arrangement and structure, we use Table II herein to list the sensitivity of the double f-shaped component 3 (obtained by least squares linear fitting). The cross sensitivities k zx and k zy are zero (in practice, the maximum strain outputs at Fx (200N) and Fy (200N) are 0.95E-02 μ and 0.06 μ, respectively).
Table II
The triaxial sensitivity is shown in fig. 8.
By means ofDecoupling equation (7) yields the strain output. The cross sensitivity of the other axial forces is zero compared to the sensitivity of the force component along the sensitive axis (k xx＝0.49με/N,kyy＝2.37με/N,kzz =0.43 με/N). The fitted curve shows that the components are well-linear (R 2 =0.99, R is pearson correlation coefficient). The crosstalk matrix V is:
From the matrix, the maximum crosstalk (coupling interference) is only 0.32%. Matrices K and V indicate LTMSE under the proposed structure to have low coupling characteristics.
We will use (6) to detail the implementation of low coupling, which at the same time can improve the trade-off. To decrease vij, sij should be decreased and Sii should be increased.
A further explanation is that exposing a large and uniform strain (increase Sii) requires a smaller fulcrum. In combination with the uniaxial tensile deformation mode (the favorable deformation mode), the strain energy exposed at the fulcrum maintains good uniformity and as the fulcrum is further contracted, the strain increases.
Reducing the effect of the fulcrum on stiffness in a small range (about 3mm x 6mm x 3 mm) is less. To reduce Sij, the lever arm (dimensions: 27 mm 10mm 8 mm) needs to be kept robust to avoid large deformations (torsion and bending, etc.) from other axial forces. Resistance to such deformation may avoid exposing large combined strains, resulting in complexity and difficulty of subsequent decoupling algorithms. It should be noted that the double f-type assemblies 2 and 3 use a stiffer shared lever arm. At the position ofThe sensitivity and stiffness were calculated as shown in fig. 9. Furthermore, the parameters of the lever arm and fulcrum may be adjusted, if necessary, according to different triaxial force ranges (in this work, the triaxial force range is set to ±200n).
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (2)
1. A three-dimensional contact force measuring method of an L-shaped structure is characterized by comprising the following steps of: comprising the following steps:
Vertically connecting the first I-type three-dimensional structure and the second I-type three-dimensional structure in series to form an L-type structure; the second I-shaped three-dimensional structure is a contact piece, and the first I-shaped three-dimensional structure is used for connecting the second I-shaped three-dimensional structure with other components;
Taking a second I-type three-dimensional structure in the L-type structure as an F-type component; taking one surface projected into an L shape in the L-shaped structure as a target surface, and taking a part containing a first I-shaped three-dimensional structure in the target surface as a first double-F-shaped component; taking the side surface adjacent to the first double-F-shaped component in the side surface of the first I-shaped three-dimensional structure as a second double-F-shaped component;
Placing the L-shaped structure according to a set mode to obtain a placed L-shaped structure, applying forces in the directions of a y axis, an x axis and a z axis to the placed L-shaped structure, and respectively calculating to obtain a single-axis force Fy, a single-axis force Fx and a single-axis force Fz of the L-shaped structure; the vertical direction is taken as a y-axis direction, a direction which is perpendicular to the y-axis direction and parallel to the first double-F-shaped component is taken as an x-axis direction, and a direction which is perpendicular to the y-axis direction and parallel to the second double-F-shaped component is taken as a z-axis direction;
the uniaxial force Fy is determined according to the following formula:
Wherein, a fulcrum A and a fulcrum B are arranged at the bottom of the F-shaped component; epsilon A1 and epsilon A2 are both tensile strain on fulcrum a; epsilon B1 and epsilon B2 are compression strain on a fulcrum B;
The k yy＝((l-c)/b1+l/b2)/2cδ2E,kyy is the y-axis strain sensitivity; l is the length of the F-type component; c is the distance between the center point of the fulcrum A and the center point of the fulcrum B; b 1 is the width of the fulcrum a; b 2 is the width of the fulcrum B; delta 2 is the thickness of fulcrum A; e is Young's modulus;
The uniaxial force Fz is determined according to the following formula:
Wherein, a fulcrum G and a fulcrum H are arranged on the surface of the first double F-shaped component; epsilon H1 and epsilon H2 are both tensile strains on the fulcrum H; epsilon G1 and epsilon G2 are compression strain on a fulcrum G; k zz is the strain sensitivity corresponding to the z axis;
the uniaxial force Fx is determined according to the following formula:
Wherein a fulcrum C and a fulcrum D are arranged on the surface of the second double-F type component; epsilon D1 and epsilon D2 are both tensile strain on fulcrum D; epsilon C1 and epsilon C2 are both compressive strain on fulcrum C; and k xx is the strain sensitivity corresponding to the x axis.
2. The method for measuring three-dimensional contact force of L-shaped structure according to claim 1, wherein: placing the L-shaped structure according to a set mode, wherein the L-shaped structure specifically comprises: the first I-shaped three-dimensional structure is placed vertically and the second I-shaped three-dimensional structure is located above the first I-shaped three-dimensional structure.
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| US5490427A (en) * | 1994-10-17 | 1996-02-13 | Fanuc Usa Corporation | Six axis force sensor employing multiple shear strain gages |
| US5526700A (en) * | 1995-09-29 | 1996-06-18 | Akeel; Hadi A. | Six component force gage |
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