1. Articulated industrial robots
Installed near the joint
Space limitation and range of motion consideration: The joint space of the articulated robot is relatively compact, and its size and shape need to be fully considered when installing the six-dimensional force sensor, so as to avoid interference with the joint motor, reducer and other components of the robot. At the same time, due to the large range of motion of the joints, the sensor should be installed in such a way that the robot will not be collided with by its own structure during the entire working process. For example, when mounting the elbow joint of a robot arm, consider the gap between the sensor and the surrounding mechanical structure when the arm is bent and extended.
Optimization of the force transmission path: The sensor should be installed in a position that accurately senses the forces and moments experienced by the joint. At the joint, the transmission path of force and torque is complex, and the installation method needs to be reasonably designed so that the sensor can directly measure the key force experienced during joint movement. For example, for rotary joints, sensors can be mounted near the joint axis for better measurement of rotational moments.
End-mount (in combination with end-effector)
Compatible with a variety of end-effectors: Articulated robots are usually fitted with different types of end-effectors, such as grippers, suction cups, welding guns, etc. Six-dimensional force transducers are installed with compatibility with these end-effectors in mind. For grippers, it may be necessary to integrate the sensor into the internal structure of the gripper or to install it at the junction of the gripper and the robot arm to accurately measure the force when gripping the object. In the case of suction cup type end effectors, the sensor should be installed in such a way that the adsorption function of the suction cup is not affected and that the force during the adsorption process can be correctly sensed.
Consideration of end load changes: Due to the different types and loads of end effectors, the impact of end load changes on sensor measurements should be taken into account when installing the sensor. For example, when the end-effector is changed from a light-duty vacuum suction cup to a heavy-duty welding device, the sensor needs to be able to accommodate this large load change and the mounting structure needs to be able to stably support the sensor and the end-effector for accurate force measurement.
2. Cartesian coordinate industrial robots
Installation on linear modules
High-precision positioning requirements: The movement of Cartesian coordinate robots is carried out along the Cartesian coordinate axis, and its linear modules usually require high-precision positioning. When installing six-dimensional force transducers on these linear modules, it is important to ensure that the sensors are installed in an accurate position so that the forces of the robot in all linear directions can be accurately measured. For example, when installing on an X-axis linear module, the sensor should be installed in the exact position by means of a precise positioning device, and the error should be controlled in the micron level to meet the robot's high-precision requirements for position and force measurement.
Accuracy of axial perception of force: Since the direction of movement of the Cartesian coordinate robot is clear, the sensor installation should ensure that the force along the coordinate axis can be accurately perceived. This requires that the coordinate axes of the sensor are closely aligned with the coordinate axes of the robot. During installation, a special calibration tool can be used to adjust the orientation of the sensor to ensure that the direction of force measurement is consistent with the direction of movement of the robot, avoiding measurement errors caused by axial deviations.
Work platform installation (if applicable)
Flatness and stability requirements: If a six-dimensional force transducer is installed on a Cartesian robot's work platform, the flatness and stability of the work platform are critical. The sensor needs to be mounted on a flat surface to guarantee even force distribution and accurate measurement. For example, in some high-precision electronic component assembly robots, the flatness error of the working platform should be controlled within a very small range, and high-precision machining technology is usually used to manufacture the working platform, and the flatness should be detected and adjusted when the sensor is installed.
Multi-sensor co-installation (if any): In some complex work scenarios, it may be necessary to install multiple six-dimensional force sensors on the work platform. In this case, it is necessary to consider the mutual position of the sensors and how they work together. For example, in the handling and machining of large flat workpieces, the installation of multiple sensors should ensure that the force on the workpiece on the platform can be comprehensively and accurately measured, and the data between the sensors should be effectively fused and processed.
3. Cylindrical coordinate industrial robots
Cylindrical moving parts mounted
Measurement consideration of circular motion force: Cylindrical coordinate robots have parts with circular motion, and when installing six-dimensional force sensors on these parts, it is necessary to focus on the measurement of force and torque during circular motion. For example, for an arm rotating around a cylindrical axis, the sensor needs to be able to accurately measure the centrifugal force, the centripetal force, and the rotation-related moment during rotation. Therefore, it is necessary to reasonably design the installation structure of the sensor, so that the sensor can adapt to the characteristics of circular motion, and the force and torque in the circular motion can be effectively transmitted to the sensor for measurement.
Optimization of the perception of forces in the radius direction: In addition to the forces in the circular motion, the measurement of forces in the radius direction of the cylindrical coordinates is also important. When installing the sensor, make sure that it can accurately sense the force in the radius direction of the robot arm as it extends and contracts. This may require fine adjustments to the mounting angle and position of the sensor so that the sensor's force perception direction is consistent with the radius direction, improving the accuracy of the radius force measurement.
Installed in combination with other coordinate moving parts
Coordinate conversion and data fusion requirements: Cylindrical coordinate robots combine cylindrical motion with other linear motions (e.g., vertical lifting motion). When installing a six-dimensional force transducer on these components that combine motion, the conversion between different coordinate motions and the fusion of force and moment data need to be considered. For example, when the robot arm performs the compound motion of cylindrical rotation and vertical lifting, the sensor should be able to accurately convert and fuse the force and moment data measured under different motion modes to provide accurate force feedback information for the control of the robot.
Compatibility design of the mounting structure: The mounting structure should be compatible with the characteristics of moving parts with different coordinates. Due to the complexity of the shape and movement of the moving parts of cylindrical coordinate robots, the installation structure of the sensor should be able to adapt to this complexity. For example, when designing the mounting bracket, the stability of the bracket during cylindrical rotation and linear lifting should be considered, while not hindering the normal movement of the various parts of the robot.