SPRING ARRAY DEVICE FOR VERIFYING RELIABILITY AND ACCURACY OF MECHNICAL IMPEDANCE ESTIMAING ROBOT

摘要

According to the present invention, a device connected to an end effector of the mechanical impedance estimation robot for verifying reliability and accuracy of the mechanical impedance estimation robot, comprising: a fixture having an internal space; A moving body located in the inner space; And first, second, third, fourth, fifth, sixth, seventh, and eighth springs connecting the fixed body and the moving body in the inner space, wherein the fixed body includes the first and the first springs. 1st, 2nd, 3rd, 4th, 5th, 6th, 7th, 8th spring coupling parts that are coupled to each of the 2nd, 3rd, 4th, 5th, 6th, 7th and 8th springs Wherein the fifth spring coupling part and the sixth spring coupling part are located at two vertices symmetrical to the moving body in a regular cube centered on the moving body, and the first spring coupling part and the third spring coupling part And each of the seventh spring coupling portions is located at the center of the three corners connected to one of the two vertices where the fifth spring coupling portion is located in the cube, and the second spring coupling portion, the fourth spring coupling portion, and Each of the eighth spring coupling portions is provided with a three-dimensional spring array device positioned at the center of three corners each connected to the other of the two vertices at which the sixth spring coupling portion is located in the cube.