A trial on a 6-axis force sensor for robots.
A trial on a 6-axis force sensor for robots.
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机器人六轴力传感器的试验。
DOI：
10.1299/kikaic.54.241
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发表时间：
1988
期刊：
影响因子：
--
通讯作者：
Takada Ryuji
中科院分区：
文献类型：
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作者：
Y. Hatamura;K. Iino;Kozo Ono;Takada Ryuji
当自动工作过程，如零件组装，去毛刺和磨削，是由机器人，力控制必须适应他们的精确工作。在这种情况下，6轴力传感器是必不可少的，它必须具有以下三个特点：(i)体积紧凑，重量轻，（ii）高刚性，（iii）高精度和分辨率高。为了满足这些要求，新设计的六轴力传感器采用了平行板结构和径向板结构。经过调查，它们显然符合上述要求。例如，b型检测块的额定力为100 N，额定力矩为10 N -m，它足够小（外径50 mm，高度44 mm），轻（重量116 g）和刚性（超过1.5 kHZ固有频率）。其最终误差小于3% f.s。其性能在几种实际作品中得到了证实。
When automatic Working processes, such as parts asembling, deburring and grinding, are made by robots, force control must be adapted for their precise work. In such a case, a 6-axis force sensor is indispensable, and it must have the following three characteristics : (i) Compact size and light weight, (ii) High rigidity, (iii) High accuracy and resolution. In order to satisfy these requirements, parallel plates structures and radial plates structures are adapted in newly designed 6-axis force sensors. After the investigations, it became clear that they satisfy the above requirements. For example, in case of a B-type detecting block where the rated force is 100 N, rated moment is 10 N -m, it is small (50 mm outer diameter, 44 mm height), light (116 g weight) and rigid (over 1.5 kHZ natural frequency) enough. Its final error is smaller than 3% F. S.. Its performances are confirmed in several kinds of actual works.