A novel piezoelectric 6-component heavy force/moment sensor for huge heavy-load manipulator's gripper

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.