力和力矩传感器

概述：

Acceleration compensation is now available for most JR3 sensor families utilizing integrated electronics. The resulting 12 degree of freedom sensors are capable of measuring the force on three orthogonal axes, the moment (torque) about each axis, and the accompanying 6 accelerations. Completely defining the loading and accelerations at the sensor抯 location.

When a sensor with a tool, gripper or any other attached mass is moved through sPACe, acceleration and deceleration due to starting, stopping and change of direction produce force and torque loads. It is often desirable to measure contact loads while a tool or part is in motion. Until now it has been impossible to distinguish contact loads from the forces and torques due to acceleration.

By measuring accelerations, forces and torques simultaneously, those loads due to contact can be distinguished and measured. This allows contact forces and torques to be controlled even in the presence of loads due to motion. The signal conditioning electronics for forces, torques and the six axes of acceleration are integrated into the sensor body. The electronics includes amplifiers, analog to digital converters, EEProms containing calibration data and RS-485 serial drivers. The sensor outputs a 2 megabit per second serial data stream for forces and torques and an additional 2 megabit per second serial data stream for accelerations. Both streams contain complete 6 axis data at 8 kHz and can be read by any of JR3抯 serial receivers.

Acceleration compensated force and torque sensors are available with the same load ratings and bolt patterns as their parent 6 DOF sensor families. Linear acceleration on the X, Y, and Z axes can be measured up to 5 g. Angular acceleration about these axes can be measured up to 1000 radians /second/second. Other acceleration ranges are available.

The top of the transducer contains a copy of the tool flange. This feature eliminates the need for adapter plates, which saves weight and lowers the installed height.