JAKA Zu Series, Руководство пользователя

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14 Force Control Products
2.1.2.
Type II Force Sensor
2.1.2.1 Overview
The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The
sensor senses relative deformation between the "tool end flange" and the "main body" caused by the load
exerted on it, and then measures the change in its elastic element based on the electrical strain measurement
principle. 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.
M6
螺纹孔
Φ6
定位销孔
防尘垫圈
工具端法兰
底盖
M4
内埋螺钉
Φ5 定位销孔
传感器主体
Figure 2-3 Sensor Appearance
F
x
F
y
M
y
M
x
F
z
M
z
载荷参考平面
Figure 2-4 Definition of the Sensor Coordinate System
M6 threaded hole
Φ6 positioning pin hole
Dust washer
Tool end flange
Bottom cover
Φ5 positioning pin hole
M4 embedded screw
Sensor
Load reference plane