Трехкомпонентный датчик силы на базе упругого силиконового элемента и магнитометра

Abstract

The presence of force-moment sensing of robotic systems makes it possible to improve the quality of the interaction between the robot and the objects of the external environment. There are many ways to provide force-moment sensing, one of which is to use multicomponent force sensors. However, their cost is quite high, so it is important to search and develop more profitable technical solutions. In this regard, a three-component force measurement sensor was developed, built on the basis of an elastic silicone element, with a built-in permanent magnet, and a hall-effect magnetometer. This technical solution is low-cost. The paper describes the technological process for the production of a three-component force measurement sensor, based on 3D printing of the body with an FDM printer, which makes it cheap to manufacture, and molding of two-component silicone. The paper considers the process of soldering SMD components to boards using a soldering hair dryer, stencils and solder paste, and shows a stand for calibrating the manufactured sensors, consisting of micrometric screws and parts printed on an FDM 3D printer. The mathematical method for calibration is based on the least squares method. The result of calibration of a three-component force measurement sensor is given. The research results in the development of a working sensor with the following characteristics: resolution — 1 mN, sensor sensitivity — 0.005 T / N.