Title:
MULTI-DIMENSIONAL FORCE AND TORQUE SENSOR AND MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2023/098395
Kind Code:
A1
Abstract:
A multi-dimensional force and torque sensor (1) and a manipulator. The multi-dimensional force and torque sensor (1) comprises: a force and torque sensor substrate (11), a force and torque sensor fixed end (12), a channel (13), a force and torque sensor mounting end (18), and a fiber Bragg grating sensor group. One end of the force and torque sensor is provided with the force and torque sensor fixed end (12), the force and torque sensor fixed end (12) is connected to the force and torque sensor substrate (11), and the other end of the force and torque sensor (1) is configured as the force and torque sensor mounting end (18); the channel (13) is provided in the force and torque sensor (1); the force and torque sensor substrate (11) is provided with a fiber Bragg grating sensor fitting groove group, and a fiber Bragg grating sensor group is mounted in the fiber Bragg grating sensor fitting groove group; the force and torque sensor substrate (11) is provided with more than or equal to one corner along a plane where a half-section is located. By utilizing the characteristic that the fiber Bragg grating sensors are arranged in a mixed mode on the surface of the force and torque sensor substrate (11) structure along the vertical and spiral direction, the overall size can be reduced, multi-dimensional force and torque data feedback can be obtained, and related operations in a narrower and limited operation space and the like can be realized.
Inventors:
GAO ANZHU (CN)
ZOU YUN (CN)
GAO HONGYAN (CN)
CHEN WEIDONG (CN)
YANG GUANGZHONG (CN)
ZOU YUN (CN)
GAO HONGYAN (CN)
CHEN WEIDONG (CN)
YANG GUANGZHONG (CN)
Application Number:
PCT/CN2022/129812
Publication Date:
June 08, 2023
Filing Date:
November 04, 2022
Export Citation:
Assignee:
UNIV SHANGHAI JIAOTONG (CN)
International Classes:
G01L1/24; G01L3/00; G01L5/166
Foreign References:
| CN108593161A | 2018-09-28 | |||
| US6586722B1 | 2003-07-01 | |||
| CN114216594A | 2022-03-22 | |||
| CN101874729A | 2010-11-03 | |||
| CN109813473A | 2019-05-28 | |||
| CN110455447A | 2019-11-15 | |||
| CN111678539A | 2020-09-18 | |||
| US20100272384A1 | 2010-10-28 |
Attorney, Agent or Firm:
DUAN & DUAN LAW FIRM (CN)
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