A New Design for 6-Component Force/Torque Sensors
A New Design for 6-Component Force/Torque Sensors
复制标题
六分量力/扭矩传感器的新设计
DOI：
10.1007/978-94-009-4414-5_5
复制
发表时间：
1986
期刊：
影响因子：
--
通讯作者：
Y. Hatamura
中科院分区：
文献类型：
--
作者：
Kozo Ono;Y. Hatamura
近年来，六分量力/力矩传感器在各个工程领域特别是机器人学领域引起了研究者和工程师的关注。目前大多数工业机器人都是基于位置控制的。因此，它们不适用于在精密装配工作中插入配合零件或在金属加工中去毛刺和磨削。对于这些应用，力控制是必不可少的，6分量力/扭矩传感器在其中起着主要作用。机器人技术中所期望的这种力/扭矩传感器必须满足以下条件。
Recently, 6-component force/torque sensors have been drawing the attention of reserchers and engineers in various engineering fields especially in robotics. Most of the present industrial robots are based on position control. Therefore they are not applicable for inserting mating parts in precise assembly work or deburring and grinding in metal working. For those applications, force control is indispensable and 6-component force/torque sensors play a main role therein. Such force/torque sensors as expected in robotics must satisfy the following conditions.