JAKA Zu Series, Руководство пользователя

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Version: 3.1.0 45
2.2.
JAKA Zu Sp Hardware Installation
2.2.1. Type IV Force Sensor
2.2.1.1 Overview
The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The
base six-axis F/T sensor generally has two ends: the fixed end (base end) and the loading end (robot end).
When the two ends are exposed to relative force, the sensor deforms elastically and the resistance strain
gauge inside the sensor changes, which is converted into a voltage output signal.
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 definition of the sensor coordinate system is
shown in Figure 2-41.
Figure 2-41 Sensor Coordinates
2.2.1.2 Sensor Installation
The flange that connects the force sensor to the base should be designed as needed. Please ensure that the
surfaces of the robot end, mounting flange, sensor, and base are free of damage or foreign objects. If the
contact is non-uniform due to factors such as the inclusion of foreign objects, gaps will be formed between
them, degrading the output quality of the sensor. When installing the sensor, ensure that the direction of the
aviation plug of the robot base is consistent with the X+ direction marked on the sensor (as shown in Figures
2-41 and 2-42), and avoid long screws from crushing the force sensor. Gradually tighten the screws according
to the diagonal sequence to deliver uniform contact between the sensor and the adapter plate.