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首页> 外文期刊>Mechanical systems and signal processing >A novel piezoelectric 6-component heavy force/moment sensor for huge heavy-load manipulator's gripper
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A novel piezoelectric 6-component heavy force/moment sensor for huge heavy-load manipulator's gripper

机译：新型压电6分量重力/力矩传感器，适用于大型重载机械手的夹具

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摘要

This paper presents the development of a piezoelectric 6-component heavy force/ moment sensor which may be used to detect forces F_x, F_y and F_z, and moments M_x. M_y and M_2 on huge heavy-load manipulator's gripper, simultaneously. The structure of the sensor is newly modeled. Piezoelectric quartz is chosen as force sensing element to realize real-time measurement. In order to investigate the validity of the proposed method, a prototype of piezoelectric 6-component heavy force/moment sensor is developed, and a characteristic test of the piezoelectric 6-component heavy force/moment sensor is performed. The experiments show that the linearity of the sensor is no more than 1%, and the interference errors are less than 3%. The carrying capability of force sensor is improved greatly by using load distribution.
机译：本文介绍了压电六分量重力/力矩传感器的发展，该传感器可用于检测力F_x，F_y和F_z以及力矩M_x。 M_y和M_2同时在大型重载机械手的夹具上。传感器的结构是新建模的。选择压电石英作为力感测元件，以实现实时测量。为了研究该方法的有效性，开发了压电六分量重载/力矩传感器的原型，并对压电六分量重载/力矩传感器进行了性能测试。实验表明，传感器的线性度不大于1％，干扰误差小于3％。通过负载分配，力传感器的承载能力大大提高。

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