Six-dimensional force sensor gauge arrangement structure with concentrated strain

A six-dimensional force sensor and strain concentration technology, applied in the field of robotics, can solve the problems of weak signal, poor stability, and high cost of six-dimensional sensors, and achieve the effects of ensuring shear stress concentration, improving detection accuracy, and facilitating detection

Active Publication Date: 2019-07-05
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0030] Embodiment one:

[0031] like figure 1 , figure 2 , image 3 As shown, a strain-concentrated six-dimensional force sensor fabric structure includes elastic connecting beams 2, upper force plate 3, lower force plate 4 and detection plane 1, and six elastic connecting beams 2 are used for the upper force plate 3 and the lower force plate. The connection of the force transmission plate 4, and bear the force action of the six dimensions of the joint. The elastic connecting beam 2 is provided with a special structure of strain concentration. The configuration of the elastic connecting beam 2 is a thin beam-plane-thin beam structure distribution. The upper and lower thin beams are the media for connection and force transmission. Three dimensions, the thickness dimension shall not exceed 1 mm, and the length and width dimensions shall be adapted to the corresponding strain gauge dimensions. A notch is provided on the plane to facilitate the placement and pasting of the strai

Example Embodiment

[0032] Embodiment two:

[0033] like Figure 4 , Figure 5 As shown, a strain-concentrated six-dimensional force sensor fabric structure includes elastic connecting beam 2, upper force plate 3, lower force plate 4 and detection plane 1. The structure of elastic connecting beam 2 is not limited to a cuboid, and can be any Irregular shape, keep the upper and lower thin beams close to the midline position of the middle detection plane 1, to ensure the concentration of shear stress, not limited to the midline position. The outer sides of the upper and lower thin beams can be extended, and are collinear with the outer sides of the detection plane 1.

[0034] The method of using this six-dimensional sensor is:

[0035] Assemble the upper force plate and output components, and the lower force plate and harmonic devices. During the movement of the robot, the real-time monitoring signal is detected by the strain gauge, and by comparing with the calibration data, the magnitude of the f

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Abstract

The invention discloses a six-dimensional force sensor gauge arrangement structure with a concentrated strain. The structure comprises force transfer disks, elastic connecting beams and strain gauges,wherein two ends of the elastic connecting beams are independently connected with the force transfer disks; the elastic connecting beam configuration is in thin beam-plane-thin beam structural distribution; an upper thin beam and a lower thin beam are used as the media for connection and force conduction; the strain gauges are pasted to the plane for detecting a signal; and the upper thin beam and the lower thin beam extrude a middle detection plane from different angles, strain detection in a pulling and pressing direction is changed into strain detection in a shearing direction, and therefore, the improvement of a six-dimensional force sensor patch structure of a traditional Stewart structure is realized. Compared with the prior art, the structure disclosed by the invention can enlargea strain signal and guarantee concentrated strain, the cost of the small sensor is lowered, and accuracy is improved.

Description

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Claims

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Application Information

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Owner SHANGHAI JIAO TONG UNIV
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