Research on Axis Piezoelectric Six-Axis Force/Torque Sensor Clamping Device

Abstract

Six-axis force measurement and real-time force feedback control is realized the basis of the coordination of multi-equipment operation control and conform control, and is developed the technical basis of overloaded operators equipment and other heavy equipment. A surface friction clamping device which is based on the principle of swelling is designed in the paper, and is used to rigid connection between the six-axis force sensor and parallel shaft. The measuring principle of six-axis force sensor is analyzed. Six-axis force sensor dynamometer performance is researched under the influence of clamping device. Modeling and simulation analysis of the structure is obtained by using FEM and loading experiment is designed.