THREE-AXIS QUICK CUTTER SERVO MECHANISM AND THREE-DIMENSIONAL FORCE ONLINE DETECTION SYSTEM

摘要

The present invention provides a three-axis quick cutter servo mechanism and a three-dimensional force detection system, comprising: the three-axis quick cutter servo mechanism, which is driven by three piezoelectric ceramics to generate three axial displacements respectively and can realize three axial decoupling motions at an end effector by means of the transmission and constraint action of symmetrically arranged flexible hinges; a displacement detection mechanism, which integrates three capacitive displacement sensors and can detect displacements of three input ends of the three-axis quick cutter servo mechanism; and a force detection mechanism, which integrates three piezoelectric ceramic force sensors and is connected to the end effector of the three-axis quick cutter servo mechanism, the force detection mechanism being detachable and capable of detecting component forces of any space force applied to a cutter tip in three axial directions by means of the linear relationship between detection values of the three force sensors and three axial forces. The system of the present invention is based on the positive piezoelectric effect of piezoelectric ceramic sheets, and the piezoelectric ceramic sheets are used as the force sensors, thus implementing the online detection of a three-dimensional force in a cutting process.