CN201464085U - Six-dimension orthogonal decoupling RSS force sensor - Google Patents
Six-dimension orthogonal decoupling RSS force sensor Download PDFInfo
- Publication number
- CN201464085U CN201464085U CN 200920102594 CN200920102594U CN201464085U CN 201464085 U CN201464085 U CN 201464085U CN 200920102594 CN200920102594 CN 200920102594 CN 200920102594 U CN200920102594 U CN 200920102594U CN 201464085 U CN201464085 U CN 201464085U
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- side chain
- force sensor
- platform
- rss
- decoupling
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Abstract
The utility model discloses a six-dimension orthogonal decoupling RSS force sensor, that is characterized in that an application platform (1) is connected with a fixed platform (3) through three sets of fork chains, each set of fork chains comprises two parallel fork chains (2), main rods of each set of fork chains are perpendicular to each other, and are perpendicular to the fixed platform (3) connected with each set of fork chains in space. Each fork chain (2) comprises two elastic spherical hinges (2-2) and a rotation hinge (2-4), a rotation hinge rod (2-3) is provided with an elastic rotation hinge (2-4) with rectangular cross sections, and strain foils are adhesive to two surfaces of the rotation hinge (2-4). In the utility model, the mechanical models of the elastic members completely correspond to the corresponding parallel mechanisms, the design theory is normative and mature, the theoretical design is reduced, and the sensitivity is high. The six-dimension orthogonal decoupling RSS force sensor has the advantages of good inter-dimension decoupling property, quick response, high precision and the like.
Description
Technical field
The utility model relates to a kind of automatic control technology field, particularly relates to the six dimensional crossing decoupling force transducer of a kind of measurement space three-dimensional force and three-dimensional moment.
Background technology
The technological core of multidimensional sensor is elastomeric structural design and manufacturing, and existing six-dimension force sensor elastic body has rood beam and Stewart (6-SPS) parallel connection platform structure.The former pastes the status requirement strictness of foil gauge, and coupling is big between dimension; Latter Stewart (6-SPS), foil gauge be attached on the bar or the resilient movement pair on, the remolding sensitivity that is attached on the bar is lower; Be attached on the resilient movement pair,, cause the bigger errors of principles because the secondary lateral rigidity of resilient movement is low.
Summary of the invention
Low and the big deficiency that waits of the errors of principles for the secondary lateral rigidity of the resilient movement that overcomes existing six-dimension force sensor existence, the utility model provides a kind of six dimensional crossing decoupling RSS force sensor, the elastomer structure of this sensor not only has decoupling, and distortion is finished by rotating hinge simple in structure, simplify the structure, improved precision.
The technical scheme that its technical matters that solves the utility model adopts is: application of force platform is connected by 3 groups of parallel side chains with stationary platform, every side chain has 2 elasticity ball pivots (being called for short S) and 1 elasticity rotating hinge (being called for short S), two branched structures of every group of side chain are identical and parallel, and the side chain mobile jib of every group of side chain is vertical in twos in the space; Side chain is made up of side chain mobile jib, elasticity ball pivot, rotation toggle and rotating hinge, the two ends of side chain mobile jib are the elasticity ball pivot, the elasticity ball pivot is rigidly connected with application of force platform and rotation toggle respectively, rotate toggle and fixed platform rigid attachment, rotate on the toggle and be processed with the elasticity rotating hinge that xsect is a rectangle, foil gauge is pasted on its surface; The ball pivot line of centres at side chain mobile jib two ends is perpendicular with the axis that rotates toggle and rotating hinge.The present invention has 6 fine motion degree of freedom, and is constituted corresponding relations by 6 spatial components of dynamometry, and has good decoupling.When sensor application of force platform is subjected to power or moment loading, can produce corresponding strain on six elasticity rotating hinges, obtain corresponding six output signals by external four arm differential bridges.
The beneficial effects of the utility model are: this sensor is corresponding fully with corresponding parallel institution mechanical model at elastic body, its design theory standard maturation, thereby the Design Theory error is little, highly sensitive; Have simultaneously between dimension that decoupling is good, response is fast and the precision advantages of higher.
Description of drawings
Fig. 1 is the six dimensional crossing decoupling RSS force sensor structural drawing;
Fig. 2 is the schematic diagram of mechanism of six dimensional crossing decoupling RSS force sensor;
Fig. 3 is branched structure figure;
Fig. 4 is side chain four arm differential bridge circuit diagrams.
In Fig. 1, Fig. 2, Fig. 3 and Fig. 4,1. application of force platform, 2. side chain, 3. stationary platform, 2-1. side chain mobile jib, 2-2. elasticity ball pivot, 2-3. rotates toggle, and 2-4. is a rotating hinge, the 2-5. foil gauge, a link ends connects with platform employing interference fit.
Embodiment
Fig. 1 is the disclosed embodiment of the utility model, connect with 3 groups of side chains between application of force platform 1 and the stationary platform 3, every group of side chain is made up of two side chains 2, and their side chain mobile jib 2-1 is vertical in twos in the space, and the stationary platform 3 that is connected with every group of side chain 2 is vertical mutually in the space.The structure of every group of side chain is identical and be arranged in parallel.Every side chain 2 has 2 ball pivots (S hinge) and 1 rotating hinge (R hinge), side chain 2 is made up of side chain mobile jib 2-1, elasticity ball pivot 2-2, rotation toggle 2-3 and rotating hinge 2-4, the two ends of side chain mobile jib 2-1 are elasticity ball pivot 2-2, elasticity ball pivot 2-2 connects with application of force platform 1 interference fit and rotation toggle 2-3 is rigidly connected, rotating toggle 2-3 connects with fixed platform 3 interference fit, rotate on the toggle 2-3 and be processed with the elasticity rotating hinge that xsect is a rectangle, 4 foil gauge 2-5 are pasted on its surface.
When application of force platform was subjected to power or moment loading, the elasticity rotating hinge 2-4 that rotates on the toggle 2-3 produced distortion, sticked on the size that foil gauge 2-5 on the elasticity rotating hinge 2-4 will reflect strain; Obtain the stressed size of corresponding 6 side chains by 6 external four arm differential bridges; Can obtain by the size and Orientation of dynamometry and moment by side chain internal force.
Fig. 2, Fig. 3 and Fig. 4 are a kind of elastic body, patch location and electric bridge sketches that is used for the sextuple joystick of computing machine.Utilize the numerical scale relation of removable object amount of movement on the sensor realizable force signal of this structural design and the screen, thereby realize the animation control in the recreation.If application of force platform design becomes the wheel hub outer rim structure of vapour, stationary platform is designed to wheel hub structure, and this sensor can be used for the stress of doughnut and wheel hub.Change by bar length and elasticity rotating hinge gauge in a word, can be designed to the six-dimension force sensor of various different ranges and sensitivity.
Claims (4)
1. a six dimensional crossing decoupling RSS force sensor comprises application of force platform (1) and stationary platform (3),
It is characterized in that: connect with 3 groups of side chains between application of force platform (1) and the stationary platform (3), every group of side chain is made up of two side chains (2), and every group of side chain mobile jib (2-1) is vertical in twos in the space, and the stationary platform (3) that is connected with every group of side chain is vertical mutually in the space; Every side chain (2) has 2 elasticity ball pivots (2-2) and 1 rotating hinge (2-4), rotates on the toggle (2-3) and is processed with the elasticity rotating hinge (2-4) that xsect is a rectangle, and foil gauge (2-5) is pasted on two surfaces of elasticity rotating hinge (2-4).
2. six dimensional crossing decoupling RSS force sensor according to claim 1 is characterized in that: the structure of every group of side chain (2) is identical with pose.
3. six dimensional crossing decoupling RSS force sensor according to claim 1 and 2, it is characterized in that: side chain 2 is made up of side chain mobile jib (2-1), elasticity ball pivot (2-2), rotation toggle (2-3) and rotating hinge (2-4), the two ends of side chain mobile jib (2-1) are elasticity ball pivot (2-2), elasticity ball pivot (2-2) connects with application of force platform (1) interference fit and rotation toggle (2-3) is rigidly connected, and rotates toggle (2-3) and connects with fixed platform (3) interference fit.
4. six dimensional crossing decoupling RSS force sensor according to claim 3 is characterized in that: the line of centres of the elasticity ball pivot (2-2) at side chain mobile jib (2-1) two ends is perpendicular with the axis that rotates toggle (2-3) and rotating hinge (2-4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920102594 CN201464085U (en) | 2009-04-29 | 2009-04-29 | Six-dimension orthogonal decoupling RSS force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920102594 CN201464085U (en) | 2009-04-29 | 2009-04-29 | Six-dimension orthogonal decoupling RSS force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201464085U true CN201464085U (en) | 2010-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200920102594 Expired - Fee Related CN201464085U (en) | 2009-04-29 | 2009-04-29 | Six-dimension orthogonal decoupling RSS force sensor |
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| CN (1) | CN201464085U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102840944A (en) * | 2012-08-08 | 2012-12-26 | 燕山大学 | Nearly singular configuration wide-range parallel six-dimensional force sensor |
-
2009
- 2009-04-29 CN CN 200920102594 patent/CN201464085U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102840944A (en) * | 2012-08-08 | 2012-12-26 | 燕山大学 | Nearly singular configuration wide-range parallel six-dimensional force sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100512 Termination date: 20110429 |