JAKA Zu Series, Руководство пользователя

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30 Force Control Products
2.1.5.
Type VI Force Sensor
2.1.5.1 Overview
Type VI force sensor is available in a variety of range models. As a strain-type torque sensor, type VI force
sensor senses relative deformation between the "tool end flange" and the "main body" caused by the force
exerted on it, and then measures the change in its elastic element with a resistance strain gauge. The sensor
contains a high-precision and highly-responsive embedded system, which can acquire and analyze changes
in signals from the resistance strain gauge as well as output the magnitude and direction of the applied force
in real time. Please install the sensor properly so as not to interfere with the output quality.
The output forces and torques of the six-axis F/T sensor are relative to the force coordinate system, which is
generally located at the geometric center of the sensor. The coordinates of JK-SE-VI-200, JK-SE-VI-400(s)
are shown in Figure 2-24, and that of JK-SE-VI-100 and JK-SE-VI-300 are shown in Figure 2-25.
F
x
F
y
M
y
M
x
F
z
M
z
载荷参考平面
Figure 2-24 Definition of the Sensor Coordinate System
Figure 2-25 Definition of the Sensor Coordinate System
Load reference plane