UFACTORY xArm 6 Axis Force Torque Sensor

Tulaga Lautele

6 Axis Force Torque Sensor Folasaga

O le xArm 6 Axis Force Torque Sensor ua mamanuina mo le faʻamalosia ma le faʻaogaina o faʻamaumauga i luga o le xArm, e mafai ona fuaina i le taimi e tasi le malosi ma le taʻavale i le tolu-dimensional space. O loʻo faʻapipiʻiina i luga o le xArm tool flange, o se uaea fetuutuunai e faʻaaogaina mo le mana ma fesoʻotaʻiga.

Singal Hub
O le 6 Axis Force Torque Sensor e manaʻomia ona faʻaogaina ma le faʻailoga faʻailoga. O le fa'ailoga fa'ailoga e lima feso'ota'iga eletise.

Saogalemu

E tatau i le tagata fa'afoe ona faitau ma malamalama i fa'atonuga uma o lo'o i lalo a'o le'i fa'atinoina le 6 Axis Force Torque Sensor.

Lapataiga

1. O le 6 Axis Force Torque Sensor e tatau ona faʻapipiʻi lelei aʻo leʻi faʻaogaina.
2. Aua le faʻapipiʻi pe faʻaogaina le 6 Axis Force Torque Sensor o loʻo faʻaleagaina pe leai ni vaega.
3. Aua ne'i tu'uina atu le 6 Axis Force Torque Sensor fa'atasi ma se isi fa'apogai (AC).
4. Ia mautinoa o seti uma ua malupuipuia i taimi uma i pito uma e lua, le 6 Axis Force Torque Sensor end & Robot end.
5. Fa'amalie i taimi uma fa'amatalaga uta a le 6 Axis Force Torque Sensor.
6. Ia mautinoa e leai se mea i totonu o le robot ma le 6 Axis Force Torque Sensor ala aʻo leʻi faʻaaogaina.

Fa'aeteete
O le faaupuga "operator" e faasino i soʻo se tasi e nafa ma soʻo se gaioiga o loʻo i lalo i le 6 Axis Force Torque Sensor:

• Fa'apipi'i
• Pulea
• Tausiga
• Asiasiga
• Fa'ate'aina
• Fa'avasegaina

O lenei faʻamaumauga o loʻo faʻamatalaina ai vaega eseese o le 6 Axis Force Torque Sensor ma gaioiga lautele e faʻatatau i le olaga atoa o le oloa mai le faʻapipiʻiina i le faʻaogaina ma le faʻaumatia.
O ata ma ata o lo'o i totonu o lenei fa'amaumauga e fa'atusa eampe mafai ona i ai le eseesega ma le eseesega i le va o latou ma le oloa tuʻuina atu.

Su'esu'ega Tulaga lamatia ma Talosaga Mulimuli
O le 6 Axis Force Torque Sensor e tatau ona faʻaaogaina i luga o se masini faʻapisinisi. O le robot, faʻamalosi malosi masini ma soʻo se isi meafaigaluega faʻaaogaina i le talosaga mulimuli e tatau ona iloiloina ma se suʻesuʻega lamatia. E tatau i le robot integrator ona faʻamautinoa o loʻo faʻaaloalogia uma tulaga saogalemu ma tulafono faatonutonu. Fa'alagolago ile talosaga, e ono iai ni a'afiaga e mana'omia ai ni puipuiga fa'aopoopo/saogalemu, mo se fa'ata'ita'igaampma, o le mea faigaluega 6 Axis Force Torque Sensor o loʻo faʻaogaina e ono lamatia ai le tagata faʻatautaia.

Taua ma le Tiutetauave
Ia usitaʻia i taimi uma tulafono faʻalotoifale ma/poʻo le atunuʻu, tulafono faatonutonu ma faʻatonuga ile saogalemu ole masini ma le saogalemu lautele o masini.
O le iunite e mafai ona fa'aaogaina na'o totonu o le lautele o ana fa'amatalaga fa'apitoa. So'o se isi lava fa'aoga o le oloa ua fa'atatauina e le talafeagai ma le fa'aogaina e le'i fuafuaina. UFACTORY o le a le noatia mo soʻo se faʻaleagaina e mafua mai i soʻo se faʻaoga le talafeagai pe leʻi fuafuaina.

Fa'apipi'i

O vaega nei o le a taʻitaʻia oe i le faʻapipiʻiina ma le seti lautele o le 6 Axis Force Torque Sensor.

1. O le Vaaiga o le Tuuina atu vaega
2. Le vaega Fa'apipi'i Mechanical

Lapataiga
A'o le'i fa'apipi'i:

Faitau ma malamalama i faʻatonuga saogalemu e fesoʻotaʻi ma le 6 Axis Force Torque Sensor.
Fa'amaonia lau afifi e tusa ai ma le lautele o le tilivaina ma lau fa'amatalaga o fa'atonuga.
Fai vaega mana'omia, mea faigaluega ma mea faigaluega o lo'o lisiina ile mana'oga e faigofie ona maua.

Fa'apipi'i:
Faamalie tulaga o le siosiomaga.
Aua le fa'aogaina le 6 Axis Force Torque Sensor, po'o le ki fo'i o le eletise, a'o le'i fa'amaumau ma fa'amama le sone mata'utia.

Avanoa o le Fa'aolaina
O le 6 Axis Force Torque Sensor Kit e masani ona aofia ai mea nei:

1. 6 Axis Force Torque Sensor *1
2. Fa'apipi'i Fa'amau *1
   (Ata Oloa mo na'o fa'amatalaga, fa'amolemole ia fa'atauva'a)
3. Nofoaga Fa'ailoga*1
4. Uaea eletise mo le Robotic Arm*1
5. Uaea feso'ota'iga mo le Robotic Arm*1
6. Uaea Malosi/Fesootaiga mo le 6 Axis Force Torque Sensor*1
7. M3*8 fa'amau fa'aono fa'aono (6) ma le M3 fa'amea puna (6)
8. M6*8 fa'amau fa'aono fa'aono (6) ma le M3 fa'amea puna (6)
9. 2.5MM L ituaiga tui*1
10. 5MM L ituaiga tui*1
11. Velcro (3 mita)

Fa'apipi'i Fa'ainisinia

1. Oomi i lalo le faamau E taofi i luga o le pusa pule.
2. Fa'apipi'i le Flange Fa'amau i le fa'au'u pito e fa'aaoga ai sikulima 4 M6*8 (e tatau ona fa'aoga fa'atasi le fa'amea puna).
3. Fa'apipi'i le 6 Axis Force Torque Sensor i luga o le Flange Fa'amau e fa'aaoga ai sikulima 4 M3*8 (e tatau ona fa'aoga fa'atasi le fa'ameamea vaipuna).
4. So'oga uaea ma Signal Hub:
   Faʻafesoʻotaʻi laina 5 i le faʻasologa e tusa ai ma le faʻamatalaga eletise eletise o le Signal Hub.
5. Fa'aaogā le Velcro e fa'apipi'i ai le uaea fe'avea'i ma feso'ota'iga i le lima robot.
   (Aua le pipii tele, aua le pipii le Velcro i luga o le torque sensor)
6. Oomi i luga le faamau E taofi i luga o le pusa pule.

Pulea

Pulea 6 Axis Force Torque Sensor e ala i le Python-SDK 

Mo faʻamatalaga i le puleaina o le 6 Axis Force Torque Sensor ma le python-SDK, faʻamolemole faʻafesoʻotaʻi le sootaga i lalo:
https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/example/wrapper/common/8003-force_control.py

Fa'aoga masani

• ft_sensor_enable(): fa'aagaioi le fa'amalosi malosi
• ft_sensor_set_zero (): seti le tulaga o loʻo i ai nei i le zero point o le malosi torque snesor
• ft_sensor_app_set() ： Seti le faiga o le pulea o le malosi torque sensor get_ft_sensor_data(): maua faʻamatalaga o le malosi torque sensor
• ft_ext_force: maua faʻamatalaga pe a uma ona faʻamama, uta ma faʻasaʻo le taui ft_raw_force: maua faʻamatalaga mataʻutia o le malosi torque sensor

Pulea 6 Axis Force Torque Sensor e ala i le C++ SDK

8003-force_control.cc https://github.com/xArm-Developer/xArm-CPLUS-SDK/blob/master/example/

Axis Force Torque Sensor Error Code

Polokalama Sese Code	Sese Taulimaina
C50	Six-axis Force Torque Sensor Sese Fa'amolemole siaki le code error sensor, su'e le fa'afitauli, ma toe ola. Afai e le mafai ona foia, fa'amolemole fa'afeso'ota'i le lagolago fa'apitoa.
C51	Six-axis Force Torque Sensor Mode Fa'atulagaina Sese Faamolemole ia mautinoa o le lima robotic e le oi totonu o le Manual Mode, siaki pe o le tau o lenei poloaiga o le 0/1/2
C52	Six-axis Force Torque Sensor Zero Seti Sese Fa'amolemole siaki le telefoni feso'ota'iga sensor ma pe o le mana e masani.
C53	Six-axis Force Torque Sensor Overload Fa'amolemole fa'aitiitia le uta po'o le fa'aogaina o le malosi mai fafo.
SDK Fa'ailoga sese	Sese Taulimaina
40	Ono-axis Force Torque Sensor Feso'ota'iga Failu Fa'amolemole siaki pe o le uaea i le va o le Fa'aputuina Fa'amatalaga ma le Ono-axis Force Torque Sensor e feso'ota'i lelei
41	O Fa'amatalaga na maua e le Six-axis Force Torque Sensor e le masani Fa'amolemole fa'afeso'ota'i le lagolago fa'apitoa
42	Six-axis Force Torque Sensor X-direction Torque sili atu tapulaʻa Faʻamolemole faʻaitiitia le malosi e faʻaaogaina i le itu X
43	Six-axis Force Torque Sensor Y-direction Torque sili atu tapula'a Fa'amolemole fa'aitiitia le malosi o lo'o fa'aogaina ile Y direction
44	Six-axis Force Torque Sensor Z-direction Torque sili atu tapulaʻa Faʻamolemole faʻaitiitia le malosi e faʻaaoga i le itu Z

45	Six-axis Force Torque Sensor Tx Torque sili atu tapula'a Fa'amolemole fa'aitiitia le fa'aoga fa'ata'amilo i le X axis
46	Six-axis Force Torque Sensor Ty direction Torque sili atu tapula Fa'amolemole fa'aitiitia le tui fa'aoga i le Y axis
47	Six-axis Force Torque Sensor Tz direction Torque sili atu tapula Fa'amolemole fa'aitiitia le tui fa'aoga i le Z axis
49	Ono-axis Force Torque Sensor Ua le mafai ona amata Fa'amolemole siaki 1. Pe o le baud rate o le Fa'aputuga o Fa'amatalaga ma le Six-axis Force Torque Sensor e tutusa. 2. Pe o feso'ota'i lelei le uaea i le va o le Fa'aputu Fa'amatalaga ma le Six-axis Force Torque Sensor.
Mo fa'ailoga sese e le o lisiina i luga ole laulau: Fa'amolemole kiliki le "Clear Error" fa'amama le mea sese. Afai e lipotia le mea sese lava e tasi, faʻamolemole faʻafesoʻotaʻi le lagolago faʻapitoa.

6 Axis Force Torque Sensor Fa'amatalaga

	Fx, Fy	Fz	Tx, Ty, Tz
Gafatia uta	150N	200N	4Nm
I'ugafono	100mM	150mM	5mNm
Hysteresis	2.5%FS	1%FS	1%FS
Talanoaga	3%FS	3%FS	3%FS
Ova le uta gafatia	150%	150%（Fz+）   300%（Fz-）	150%

mamafa

595g

Auaunaga ina ua uma ona faatau atu

Faiga fa'atau atu:
Mo faʻamatalaga auiliili pe a uma le faʻatau atu o le oloa, vaʻai le ofisa aloaia webnofoaga:
https://www.ufactory.cc/pages/warranty-returns

1. O le fa'agasologa lautele o le tautua ina ua uma ona fa'atau atu o le:
   1. Fa'afeso'ota'i le lagolago fa'apitoa a le UFACTORY (support@factory.cc) e fa'amaonia pe mana'omia le toe fa'aleleia o le oloa ma po'o le fea vaega e tatau ona toe fa'afo'i atu ile UFACTORY.
   2. A maeʻa le pili o uta ile UPS/DHL, matou te lafoina le pili ma faʻailoga ia oe ile meli. E tatau ona e faia se taimi atofaina ma le UPS/DHL i le lotoifale ona auina mai lea o le oloa ia i matou.
   3. UFACTORY o le a siaki le tulaga faʻamaonia oloa e tusa ai ma le faʻatauga faʻavae.
   4. E masani lava, o le faagasologa e tusa ma le 1-2 vaiaso sei vagana ai le uta.

Fa'aaliga:

1. 1. Fa'amolemole taofi mea fa'apipi'i muamua o le oloa. A e manaʻomia le toe auina atu o le oloa e toe faʻaleleia, faʻamolemole faʻapipiʻi le oloa i le pusa muamua e puipuia ai le oloa i le taimi o felauaiga.

Pepa / Punaoa

UFACTORY xArm 6 Axis Force Torque Sensor [pdf] Tusi Taiala xArm, 6 Axis Force Torque Sensor, Malosi Fa'alilo Fa'alogo, Torque Sensor, xArm, Sensor

Fa'asinomaga

• Tusi Taiala