CN100580400C - 3-SPR parallel decoupling structure six-dimension force-measuring platform - Google Patents
3-SPR parallel decoupling structure six-dimension force-measuring platform Download PDFInfo
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- CN100580400C CN100580400C CN200810054637A CN200810054637A CN100580400C CN 100580400 C CN100580400 C CN 100580400C CN 200810054637 A CN200810054637 A CN 200810054637A CN 200810054637 A CN200810054637 A CN 200810054637A CN 100580400 C CN100580400 C CN 100580400C
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Abstract
The present invention discloses a 3-SPR parallel-connected decoupling structure six-dimensional force-measuring platform. The invention has the following characters: each two-dimensional force-measuring leg (3) is coupled with a base (1) and a load-applying platform (5) through a spherical hinge (2) and a revolute pair (4), and the centers of three spherical hinges (2) are respectively overlapped with three tops of the regular triangle of the base (1). Basing on the principal and mechanical property of three-freedom 3-SPR parallel-connected mechanism the invention realizes the alluding of six-dimensional force to three SPR-type two-dimensional force measuring legs, and obtains a driving force and a constraining force on each two-dimensional force-measuring leg (3). With the combination of two elastic parallelogram structures on each SPR leg and the first and the second sensors (7 and 9) and the first and the second adjusting screws (6 and 8), a two-dimensional decoupling force-measuring leg with high force-measuring precision and simple structure is obtained. This 3-SPR parallel-connected decoupling structure six-dimensional force-measuring platform has the advantages of measuring force decoupling, simple algorithm, high measuring accuracy, no measuring force zero-crossing error, no pretightening creep, simple structure, easy manufacturing, high hardness and the like, and can be applied in each joint of the robot and other six-dimensional force and torque sensor occasions.
Description
Technical field
The present invention relates to a kind of power and torque sensor and robot field, particularly relate to a kind of 3-SPR parallel decoupling structure six-dimension force-measuring platform.
Background technology
Measuring six-dimension force sensor and be not only the necessary means of intelligent robotization, also is the key link of the intelligent controls of equipment such as many engineerings, electromechanics, military affairs and medical treatment.The key of measuring sextuple power is three force components and three moment components will be changed into the output of six road electric signal.These people have been developed the six-dimension force sensor of multiple structure, such as: tubular construction, twin nuclei, three, four, eight vertical tendon structures, cross structure, non-radial girders structure, T shape bar structure etc.These sensor constructions differ from one another, but are difficult to sextuple power is hinted obliquely at into six decoupling zero dynamometry signals problems such as rigidity is low, strain sensitivity is low, structure relative complex that some also exists mostly.With six degree of freedom 6-SPS parallel institution, the sextuple power of effect platform can be hinted obliquely at into six decoupling zero driving forces along the SPS leg.Based on the 6-SPS parallel institution, people have designed or have developed multiple six-dimension force-measuring platform, obtain six decoupling zero dynamometry signal outputs.For ease of explanation, with n (n=3,6) expression leg number, represent the ball pivot in the leg kinematic chain, universal pair, moving sets and revolute pair respectively with S, U, P and R, leg kinematic chain structure is represented in their combination.Ranganath, Dwarakanath and Kang etc. develops multi-form 6-SPS parallel force transducer in six dimensions respectively.Corresponding Chinese patent has: six degree of freedom power and torque sensor (CN2165435Y), robot is with sextuple power and torque sensor (CN2066134U), parallel decoupling structure six-dimensional force and torque sensor (CN1267822), a kind of have sextuple power of elastic hinge and a torque sensor (CN1229915), twelve-dimension force/acceleration robot wrist sensor (CN1385677), the six-dimension force sensor of integral pretightened flat bed type six-dimensional force transducer (ZL99102526.1) and parallel 6-UPUR six-dimension force-measuring platform different structure forms such as (CN1828248A).Because this class six-dimension force-measuring platform has six dynamometry legs and 12 ball pivots, so the structure relative complex, manufacture difficulty is bigger, causes measuring accuracy to reduce.
Summary of the invention
In order to overcome deficiency such as the big and measuring accuracy reduction of structure relative complex, manufacture difficulty that prior art exists, the invention provides a kind of 3-SPR parallel decoupling structure six-dimension force-measuring platform, 3-SPR parallel institution structure six-dimension force-measuring platform, the sextuple power of effect platform can be hinted obliquely to three SPR type two dimension dynamometry legs, obtain three driving forces and three constraining forces and the output of corresponding six road electric signal of decoupling zero each other.
This 3-SPR parallel decoupling structure six-dimension force-measuring platform comprises pedestal, three ball pivots, two-dimentional dynamometry leg that three structures are identical, three revolute pairs and weighted platform, and each two-dimentional dynamometry leg connects with pedestal and weighted platform by ball pivot and revolute pair.Two dimension dynamometry leg comprises that body, first is adjusted screw, first sensor, second is adjusted the screw and second sensor.The center of three ball pivots overlaps with three summits of pedestal equilateral triangle respectively, and the axis of three revolute pairs overlaps with three limits of weighted platform respectively.
The body of each two-dimentional dynamometry leg by put on the shelf, middle frame, undercarriage, four identical elastic arms of structure link into an integrated entity, putting on the shelf connects with the revolute pair input shaft, undercarriage is connected with the ball pivot input shaft.By put on the shelf and two elastic arms and in be configured to an elasticity parallelogram sturcutre, realize of the distortion of two-dimentional dynamometry leg along constraining force.By middle frame and two elastic arms and under be configured to another elasticity parallelogram sturcutre, realize of the distortion of two-dimentional dynamometry leg along driving force.Because each elastic arm two end section reduces suddenly, make the rigidity of the vertical elastic arm of each elasticity parallelogram sturcutre much smaller than rigidity along elastic arm, realized the decoupling zero and the test of driving force and constraining force.
Two sensors and two screws are installed on the described two-dimentional dynamometry leg.On first sensor was fixed on and puts on the shelf, its parallel axes was in the revolute pair axis.First adjusts screw connects with middle frame is adjustable, and axially contacts with the first sensor gauge head in advance.Second sensor is fixed on the undercarriage, its axis with cross ball pivot center and revolute pair axis and perpendicular to the straight line parallel of revolute pair.Second adjusts screw connects with middle frame is adjustable, and axially contacts with second transducer probe assembly in advance.When sextuple power causes two elasticity parallelogram sturcutre distortion of two-dimentional dynamometry leg, two sensors will be exported dynamometry or displacement signal.The pre compressed magnitude of sensor can be adjusted in the position of adjusting screw, crosses zero error so that eliminate dynamometry, overcomes integral pretightened flat bed type six-dimensional force transducer pretension scholar and becomes problem, avoids because of pasting the measuring accuracy decline that the foil gauge fabrication error causes.
The invention has the beneficial effects as follows: with Three Degree Of Freedom 3-SPR parallel institution, the sextuple power of its platform of effect can be hinted obliquely at into three and cross ball pivot centers and revolute pair axis and perpendicular to driving force and three constraining forces of crossing ball pivot center and parallel rotation pair of revolute pair, and six power decoupling zeros each other.So with 3-SPR parallel institution structure six-dimension force-measuring platform, also the sextuple power of effect platform can be hinted obliquely to three dynamometry legs, obtain three driving forces and three constraining forces and the output of corresponding six road electric signal of decoupling zero.Because this force plate/platform only has three dynamometry legs, three revolute pairs and three ball pivots, thus gained 3-SPR parallel decoupling structure six-dimension force-measuring platform have the test force decoupling zero, simple in structure, be easy to manufacturing, measuring accuracy height and rigidity advantages of higher.
Description of drawings
Fig. 1 is the 3-SPR parallel decoupling structure six-dimension force-measuring platform;
Fig. 2 is two-dimentional dynamometry leg main body structure front view;
Fig. 3 is the shaft side figure of two-dimentional dynamometry leg body construction.
In Fig. 1, Fig. 2, Fig. 3,1. pedestal, 2. ball pivot, 2-1. ball pivot input shaft, 3. two-dimentional dynamometry leg, 3-1. puts on the shelf, frame among the 3-2., 3-3. undercarriage; 3-4,3-5,3-6,3-7. elastic arm, 4. revolute pair, 5. weighted platform, the 6. first adjustment screw, 8. second adjustment screw, 7. first sensor, 9. second sensor.
Specific embodiment
Fig. 1 is an embodiment disclosed by the invention, and this 3-SPR parallel decoupling structure six-dimension force-measuring platform with assembling dynamometry leg comprises pedestal 1, three ball pivots 2, three assembly type two dimension dynamometry legs 3, three revolute pairs 4 and weighted platforms 5.Each assembly type two dimension dynamometry leg 3 is connected with pedestal 1 and weighted platform 5 respectively by ball pivot 2 and revolute pair 4.(3-6's body of two dimension dynamometry leg 3 3-7) links into an integrated entity for 3-4,3-5 by the 3-1 that puts on the shelf, middle frame 3-2, undercarriage 3-3 and four identical elastic arms of structure; The described 3-1 of putting on the shelf has a unthreaded hole and a threaded hole, and the axis in two holes is parallel to each other; Frame 3-2 has upper and lower two orthogonal threaded holes of axis in described, wherein the axis conllinear of the upper screwed hole and the 3-1 threaded hole of putting on the shelf; Described undercarriage 3-3 has a threaded hole and a unthreaded hole in parallel, wherein the axis conllinear of threaded hole under threaded hole and the middle frame 3-2; 4 of 3-1 unthreaded hole and the revolute pairs of putting on the shelf is connected, and undercarriage 3-3 unthreaded hole cooperates connection with ball pivot 2 input shafts; Undercarriage 3-3 unthreaded hole axis overlaps with the perpendicular bisector of the 3-1 unthreaded hole axis of putting on the shelf; Described four elastic arms (3-4,3-5,3-6,3-7) coplane, each elastic arm cross section is that rectangle and two end sections reduce suddenly, (3-4,3-5) perpendicular to the axis of the 3-1 unthreaded hole of putting on the shelf, (3-6 3-7) is parallel to the axis of the 3-1 unthreaded hole of putting on the shelf to elastic arm to elastic arm.Put on the shelf 3-1 and elastic arm (3-4,3-5) and in frame 3-2 constitute a parallelogram sturcutre, middle frame 3-2 and elastic arm (3-6,3-7) and undercarriage 3-3 constitute another parallelogram sturcutre.
On each assembly type two dimension dynamometry leg 3 two force transducers (7,9) and two adjustment screws (6,8) are housed, first force transducer 7 is fixed on the 3-1 that puts on the shelf, its axis and turns auxiliary shaft line parallel; First adjusts screw 6 and adjustable connection of middle frame 3-2, and axially contacts with first sensor 7 gauge heads in advance.Second force transducer 9 is fixed on the undercarriage 3-3, its axis with cross ball pivot center and revolute pair axis and perpendicular to the straight line parallel of revolute pair.Second adjusts screw 8 and adjustable connection of middle frame 3-2, and axially contacts with first force transducer, 9 gauge heads in advance.When sextuple power causes two elasticity parallelogram sturcutre distortion of each two-dimentional dynamometry leg, two force transducers (7,9) will be exported the dynamometry signal.Adjust screw (6,8) position and can adjust the pre compressed magnitude of sensor, cross zero error, overcome integral pre-tightening scholar and become problem, avoid because of pasting the measuring accuracy decline that the foil gauge fabrication error causes so that eliminate dynamometry.
First, second sensor (7,9) also uses displacement transducer, by demarcating, can convert out corresponding dynamometry value according to the displacement signal of displacement transducer output.
This 3-SPR parallel decoupling structure six-dimension force-measuring platform have test force decoupling zero, algorithm simple, Measuring accuracy height, no dynamometry cross zero error, no pretension scholar become, simple in structure, be easy to make, rigidity Advantages of higher may be used among the occasion of each joint of robot and other six-dimensional force and torque sensor.
Claims (2)
1. 3-SPR parallel decoupling structure six-dimension force-measuring platform, comprise pedestal (1), three ball pivots (2), three two-dimentional dynamometry leg (3), three revolute pairs (4) and weighted platforms (5) that structure is identical, it is characterized in that: each two-dimentional dynamometry leg (3) connects with pedestal (1) and weighted platform (5) by ball pivot (2) and revolute pair (4), and two-dimentional dynamometry leg (3) comprises that body, first is adjusted screw (6), first sensor (7), second is adjusted screw (8) and second sensor (9); The center of three ball pivots (2) overlaps with three summits of pedestal (1) equilateral triangle respectively, and the axis of three revolute pairs (4) overlaps with three limits of weighted platform (5) equilateral triangle respectively; (3-6's body of described two-dimentional dynamometry leg (3) 3-7) links into an integrated entity for 3-4,3-5 by put on the shelf (3-1), middle frame (3-2), undercarriage (3-3) and four identical elastic arms of structure; Described putting on the shelf (3-1) has a unthreaded hole and a threaded hole, and the axis in two holes is parallel to each other; Frame (3-2) has upper and lower two orthogonal threaded holes of axis in described, wherein the axis conllinear of the upper screwed hole and (3-1) threaded hole of putting on the shelf; Described undercarriage (3-3) has a threaded hole and a unthreaded hole in parallel, wherein the axis conllinear of threaded hole under threaded hole and the middle frame (3-2); (3-1) unthreaded hole and the revolute pair of putting on the shelf (4) axle is connected, and undercarriage (3-3) unthreaded hole cooperates connection with ball pivot (2) input shaft; Undercarriage (3-3) unthreaded hole axis overlaps with the perpendicular bisector of (3-1) unthreaded hole axis of putting on the shelf; Described four elastic arm (3-4,3-5,3-6,3-7) coplane, each elastic arm cross section is that rectangle and two end sections reduce suddenly, first elastic arm (3-4) and second elastic arm (3-5) are perpendicular to the axis of (3-1) unthreaded hole of putting on the shelf, and the 3rd elastic arm (3-6) and the 4th elastic arm (3-7) are parallel to the axis of (3-1) unthreaded hole of putting on the shelf; Described first sensor (7) is fixed in (3-1) threaded hole of putting on the shelf, and first adjusts screw (6) connects with middle frame (3-2) upper screwed hole, and axially contacts with first sensor (7) gauge head in advance; Second sensor (9) is fixed in undercarriage (3-3) threaded hole, and second adjusts screw (8) connects with threaded hole under the middle frame (3-2), and axially contacts with second sensor (9) gauge head in advance.
2. 3-SPR parallel decoupling structure six-dimension force-measuring platform according to claim 1 is characterized in that: first, second sensor (7,9) is force transducer or is displacement transducer.
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| CN200810054637A CN100580400C (en) | 2008-03-15 | 2008-03-15 | 3-SPR parallel decoupling structure six-dimension force-measuring platform |
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| CN200810054637A CN100580400C (en) | 2008-03-15 | 2008-03-15 | 3-SPR parallel decoupling structure six-dimension force-measuring platform |
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| CN101246062A CN101246062A (en) | 2008-08-20 |
| CN100580400C true CN100580400C (en) | 2010-01-13 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102435375B (en) * | 2011-09-19 | 2013-06-05 | 燕山大学 | Triple-parallel legged decoupling six-dimensional force measurement sensor comprising elastic mass motion pairs |
| CN104006920B (en) * | 2014-04-24 | 2015-11-18 | 燕山大学 | Self-balancing type six-dimensional space power/moment charger |
| CN104075834B (en) * | 2014-06-26 | 2016-05-04 | 燕山大学 | The four-dimensional force plate/platform of heavy duty weak coupling |
| CN107448186B (en) * | 2017-09-27 | 2023-03-24 | 中国地质大学（武汉） | Three-dimensional force sensor for well drilling based on six-branch-chain parallel mechanism |
| CN109724734B (en) * | 2019-01-22 | 2023-10-03 | 杭州瑞必莅机器人科技有限公司 | One-way force measuring device capable of eliminating coupling |
| CN112611497B (en) * | 2019-09-18 | 2022-01-28 | 马洪文 | Multi-dimensional force sensor structure of parallel rod system |
| CN114434490B (en) * | 2020-11-03 | 2024-06-07 | 北京配天技术有限公司 | Testing device of mechanical arm |
| CN114112158B (en) * | 2021-12-02 | 2023-11-21 | 华北水利水电大学 | Constrained parallel three-dimensional force/moment sensor |
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