公开(公告)号：US11650117B2

公开(公告)日：2023-05-16

申请号：US16973690

申请日：2020-04-22

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Shuyan Yang ,  Baoguo Xu ,  Ming Wei ,  Chunhui Wang ,  Fan Li ,  Yuhua Yao ,  Yanjun Li ,  Suinan Zhang ,  Qiong Jin

IPC: G01L5/00 ,  G01L5/1627 ,  G01L1/22

CPC classification number: G01L5/1627 ,  G01L1/2262

Abstract: The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.

公开(公告)号：US11920993B1

公开(公告)日：2024-03-05

申请号：US18025186

申请日：2022-05-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Jingjing Xu ,  Shuyan Yang ,  Baoguo Xu ,  Huijun Li ,  Ruqi Ma

IPC: G01L1/18 ,  G01L5/1627

CPC classification number: G01L1/18 ,  G01L5/1627

Abstract: A miniature combined multi-axis force sensor structure includes a sensor body, a first shell and a second shell, two horizontal main beams and two vertical main beams are arranged on the periphery of an inner round platform in a cross shape, tail ends of the horizontal main beams and the vertical main beams are each connected to a vertical floating beam, and the horizontal floating beams consist of two thin-walled cambered beams; two ends of the horizontal floating beam are each connected to an outer round platform by means of an annular platform; the sensor body is arranged between the first shell and the second shell; strain gauges are stuck on the horizontal main beams and the vertical main beams to form two Wheatstone bridges; and when force/torque acts on the cross beam, the sensor deforms, and the resistance value of strain gauge at corresponding position changes.

公开(公告)号：US11867578B2

公开(公告)日：2024-01-09

申请号：US17438941

申请日：2021-02-01

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Shuyan Yang ,  Baoguo Xu ,  Yonghui Zhou ,  Qimeng Tan ,  Changchun Liang ,  Ming Wei ,  Chunhui Wang ,  Fan Li ,  Suinan Zhang

IPC: G01L25/00 ,  G01L1/16

CPC classification number: G01L25/00 ,  G01L1/16

Abstract: The present invention discloses a high-precision and miniaturized on-orbit calibration device for a six-dimensional force sensor of a space station manipulator and a calibration method thereof, which include an inverted π shape fixing bracket, three force applying devices, and a cubic stress block. Each force applying device includes a force applying head, a single axis force sensor, a force source part and a fastening part. The force source part includes an upper support plate, a second electrode plate, piezoelectric ceramic plates, a first electrode plate and a lower support plate, which are coaxially arranged sequentially from top to bottom. The single axis force sensor is mounted on the top of the upper support plate, and the hemispherical force applying head is mounted on the top of the single axis force sensor. The cubic stress block is mounted on the top of the six-dimensional force sensor.

公开(公告)号：US11680863B2

公开(公告)日：2023-06-20

申请号：US17288534

申请日：2020-07-01

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Shuyan Yang ,  Baoguo Xu ,  Huijun Li ,  Hong Zeng ,  Lifeng Zhu

IPC: G01L25/00 ,  G01L1/14 ,  G06F3/041 ,  G06F3/044 ,  G01L9/12

CPC classification number: G01L25/00 ,  G01L1/142 ,  G01L9/12 ,  G06F3/044 ,  G06F3/0418

Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.