Redundant parallel beam multi-axis force sensor
Authors/Creators
- 1. Harbin Engineering University
- 2. Harbin Medical University
Description
The “Principle foundation” of a redundant parallel beam multi-axis force sensor is proposed in this publication series. Its characteristic is,
1. A redundant parallel beam structure supporting a point-concentrated force can be regarded as a linear elastic structure;
2. Various decoupling observable variable with high accuracy can be obtained for such a linear elastic structure using the space vector transformation method and precision measurement principle;
3. If the loading offset of the point-concentrated force is sufficiently small or the size of the loading platform sufficiently large or the strain beam is sufficiently soft, the structure is close to the linear elastic. Indeed, the loading capacity (especially the torque capacity) of such a structure is minimal;
4. A distributed force-sensing system can enlarge the load capacity and reduce the influence of the loading offset to the accuracy. A pseudo-rigid sensor frame is vital for unifying all of the distributed forces into one coordinate system and calculating the generalized force of the distributed force-sensing system.
The principle is used to prove that a high-accurate multi-axis force sensor / (sensing system) can be realized.