Development of a 3-Axis Planer Force / Torque Sensor for Very Small Force / Torque Measurement
Development of a 3-Axis Planer Force / Torque Sensor for Very Small Force / Torque Measurement
复制标题
开发用于极小力/扭矩测量的 3 轴平面力/扭矩传感器
DOI：
10.1299/jsmec.42.376
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
M. Uchiyama
中科院分区：
文献类型：
--
作者：
K. Abe;T. Miwa;M. Uchiyama
本文提出了一种H型狭缝梁，它可以有效地用于实现高度单向变形的结构。本文还报道了基于上述方案的三维力/力矩传感器的外形和特性。这种传感器可以测量机器人在一个平面内的运动所产生的非常小的反力和力矩。对于这样的应用，需要一种不受重力影响的传感器结构。需要考虑的重要一点是，传感器应该只在力/扭矩测量方向上敏感，而在所有其他方向上都非常刚性。为了实现这一目标，我们提出了H形狭缝结构作为平行梁结构的延伸。背后的想法是形成一个4连杆闭合结构，通过改变连杆的尺寸，可以改变应变片的灵敏度和方向刚度，通过改变H型狭缝的尺寸，可以实现机械过载保护。
In the present paper, we propose an H-slit beam which can be effectively utilized to achieve a highly unidirectional deformable structure.The outlines and characteristics of a 3-axis force / torque sensor based on the above proposal is also reported.This sensor can measure very small reaction forces and torques generated by the motions of a robotic manipulator having its degress of freedom in only one plane.For such an application, a sensor structure which accepts no effect of gravitational force on the manipulator is needed.The important point to consider is that the sensor should be sensitive only in the direction of measurement of force / torque, and very stiff in all other directions.To achieve this goal, we propose the H-slit structure as an extension of the parallel beam structure.The idea behind is the formation of a 4-link closed structure, the joints between the links are deformable, hence the strain gauges can be fixed at these positions.By changing the dimensions of links, a variation in sensitivity and directional stiffness is possible, and by changing the dimensions of H-slit, a mechanical over-load protection is also achieved.