UFACTORY xArm 6 Axis Force Torque Sensor
Nehelano e Akaretsang
6 Axis Force Torque Sensor Kenyelletso
The xArm 6 Axis Force Torque Sensor e etselitsoe matla le torque ho fumana data ho xArm, e ka lekanya matla le torque ka nako e le 'ngoe sebakeng sa mahlakore a mararo. E kentsoe ho xArm tool flange, thapo e tenyetsehang e sebelisoa bakeng sa matla le likhokahano.
Singal Hub
6 Axis Force Torque Sensor e hloka ho sebelisoa le hub ea matšoao. Sebaka sa mats'oao se na le likhokahano tse hlano tsa motlakase.
Polokeho
Opereishene e tlameha ho bala le ho utloisisa litaelo tsohle tse ka tlase pele a sebelisa 6 Axis Force Torque Sensor.
Tlhokomediso
- 6 Axis Force Torque Sensor e hloka ho kenngoa hantle pele e sebetsa.
- Se ke oa kenya kapa oa sebelisa 6 Axis Force Torque Sensor e senyehileng kapa e haellang likarolo.
- Le ka mohla u se ke ua fana ka Sensor ea 6 Axis Force Torque ka mohloli o mong oa hajoale (AC).
- Etsa bonnete ba hore lithapo tsohle li sirelelitsoe lipheletsong ka bobeli, pheletso ea 6 Axis Force Torque Sensor & Robot pheletsong.
- Kamehla khotsofatsa lintlha tsa mojaro tsa 6 Axis Force Torque Sensor.
- Etsa bonnete ba hore ha ho letho le ka har'a roboto le tsela ea 6 Axis Force Torque Sensor pele u sebelisa.
Tlhokomeliso
Lentsoe "opereishene" le bolela mang kapa mang ea ikarabellang bakeng sa ts'ebetso efe kapa efe ea tse latelang ho 6 Axis Force Torque Sensor:
- Ho kenya
- Taolo
- Tlhokomelo
- Tlhahlobo
- Ho tlosa
- Tekanyetso
Litokomane tsena li hlalosa likarolo tse fapaneng tsa Sensor ea 6 Axis Force Torque le ts'ebetso e akaretsang mabapi le potoloho eohle ea bophelo ba sehlahisoa ho tloha ho ts'ebetso ho isa ts'ebetsong le ho felloa ke matla.
Metako le linepe tse hlahang litokomaneng tsena ke tse emelang mohlalaampliphapang le liphapang li ka ba teng lipakeng tsa tsona le sehlahisoa se romelloang.
Tlhahlobo ea Kotsi le Kopo ea ho Qetela
6 Axis Force Torque Sensor e reretsoe ho sebelisoa robotong ea indasteri. Roboto, sensor ea torque ea matla le lisebelisoa tse ling tse sebelisoang ts'ebetsong ea ho qetela li tlameha ho hlahlojoa ka tlhahlobo ea kotsi. Mohokahanyi oa liroboto o tlameha ho netefatsa hore mehato eohle ea polokeho ea lehae le melaoana ea hlomphuoa. Ho latela kopo, ho ka ba le likotsi tse hlokang mehato e eketsehileng ea ts'ireletso / ts'ireletso, mohlalaample, karolo ea ho sebetsa 6 Axis Force Torque Sensor e thetsang e kanna ea ba kotsi ho opareitara.
Botšepehi le Boikarabelo
Kamehla latela melao ea lehae le/kapa ea naha, melaoana le litaelo mabapi le polokeho ea li-automation le polokeho ea mochini ka kakaretso.
Yuniti e ka sebelisoa feela ka har'a marang-rang a data ea eona ea tekheniki. Tšebeliso efe kapa efe e 'ngoe ea sehlahisoa e nkuoa e sa nepahala ebile e sa rereloa. UFACTORY e ke ke ea ikarabella bakeng sa ts'enyehelo efe kapa efe e bakoang ke ts'ebeliso efe kapa efe e sa lokelang kapa e sa reroang.
Ho kenya
Likaroloana tse latelang li tla u tataisa ho kenya le ho seta ka kakaretso ha 6 Axis Force Torque Sensor.
- Karolo ea "Scope of Delivery".
- Karolo ea Mechanical Installation
Tlhokomediso
Pele o kenya:
Bala le ho utloisisa litaelo tsa polokeho tse amanang le 6 Axis Force Torque Sensor.
Netefatsa sephutheloana sa hau ho latela Sebaka sa delibari le lintlha tsa odara ea hau.
E-ba le likarolo tse hlokahalang, lisebelisoa le lisebelisoa tse thathamisitsoeng ho litlhoko tse fumanehang habonolo.
E ea kenya:
Khotsofatsa maemo a tikoloho.
Se ke oa sebelisa 6 Axis Force Torque Sensor, kapa hona ho bulela phepelo ea motlakase, pele e tiisitsoe ka thata mme sebaka se kotsi se hlakotsoe.
Sebaka sa Phano
The 6 Axis Force Torque Sensor Kit ka kakaretso e kenyelletsa lintho tsena:
- 6 Axis Force Torque Sensor *1
- Ho phahamisa Flange *1
(Sets'oants'o sa Sehlahisoa bakeng sa litšupiso feela, ka kopo, hlola ka mofuta)
- Setsi sa Letšoao*1
- Thapo ea matla bakeng sa Robotic Arm*1
- Cable ea puisano bakeng sa Robotic Arm*1
- Motlakase oa Matla / Puisano bakeng sa 6 Axis Force Torque Sensor*1
- M3*8 Head hexagon socket screws (6) le M3 spring washer (6)
- M6*8 Head hexagon socket screws (6) le M3 spring washer (6)
- 2.5MM L mofuta oa sekontiri*1
- 5MM L mofuta oa sekontiri*1
- Velcro (limithara tse 3)
Ho kenya Mechine
- Tobetsa konopo ea E stop lebokoseng la taolo.
- Kenya Mounting Flange holim'a flange ea ho qetela u sebelisa 4 M6 * 8 screws (washer ea selemo e tlameha ho sebelisoa hammoho).
- Kenya 6 Axis Force Torque Sensor ho Mounting Flange u sebelisa 4 M3 * 8 screws (washer ea selemo e tlameha ho sebelisoa hammoho).
- Khokahano ea thapo le Signal Hub:
Hokela likhoele tse 5 ka tatellano ho latela tlhaloso ea sebopeho sa motlakase sa Signal Hub.
- Ho sebelisa Velcro ho khomaretsa thapo e feto-fetohang ea matla/puisano letsohong la robotiki.
(Se ke oa e khomarela haholo, u se ke ua khomarela Velcro ho sensor ea torque)
- Tobetsa konopo ea E stop lebokoseng la taolo.
Taolo
Laola 6 Axis Force Torque Sensor ka Python-SDK
Bakeng sa lintlha tse mabapi le ho laola 6 Axis Force Torque Sensor ka python-SDK, ka kopo sheba sehokelo se ka tlase:
https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/example/wrapper/common/8003-force_control.py
Sehokelo se tloaelehileng
- ft_sensor_enable(): nolofalletsa sensor ea torque ea matla
- ft_sensor_set_zero (): beha boemo ba hajoale ho fihla ntlheng ea zero ea "force torque snesor"
- ft_sensor_app_set() :seta mokhoa oa taolo oa sensor ea torque ea matla get_ft_sensor_data(): fumana lintlha tsa sensor ea torque ea matla
- ft_ext_force: fumana lintlha ka mor'a ho sefa, ho kenya le ho fokotsa matšeliso ft_raw_force: fumana lintlha tse tala tsa sensor ea torque ea matla
Laola 6 Axis Force Torque Sensor ka C++ SDK
8003-force_control.cc https://github.com/xArm-Developer/xArm-CPLUS-SDK/blob/master/example /
Khoutu ea Phoso ea Sensor ea Axis Force Torque
| Software Phoso Khoutu | Phoso Ho tshoara |
|
C50 |
Phoso ea Sensor ea Li-axis tse tšeletseng tsa Force Torque
Ka kopo, lekola khoutu ea phoso ea kutlo, fumana bothata, 'me u bule hape. Haeba e ke ke ea rarolloa, ka kopo ikopanye le ts'ehetso ea tekheniki. |
|
C51 |
Phoso ea ho Seta Mokhoa oa Sensor oa Torque ea Six-axis
Ka kopo etsa bonnete ba hore letsoho la robotiki ha le Mokhoeng oa Manual, hlahloba hore na boleng bo fanoeng ba taelo ena ke 0/1/2 |
|
C52 |
Phoso ea ho Seta ea Six-axis Force Torque Sensor Zero
Ka kopo, sheba mohala oa puisano oa sensor le hore na matla a tloaelehile. |
|
C53 |
Li-axis tse tšeletseng tsa Force Torque Sensor Overload Ka kopo fokotsa boima ba tefo kapa u sebelise matla a kantle. |
| SDK Khoutu ea Phoso | Phoso Ho tshoara |
|
40 |
Six-axis Force Torque Sensor Communication Failure Ka kopo, hlahloba hore na terata e lipakeng tsa pokello ea lintlha le
Sensor ea Matla a Torque ea li-axis tse tšeletseng e hokahane hantle |
|
41 |
Lintlha tse fumanoeng ke Six-axis Force Torque Sensor ha li tloaelehe Ka kopo ikopanye le tšehetso ea tekheniki |
|
42 |
Six-axis Force Torque Sensor X-direction Torque E Feta Moeli Ka kopo fokotsa matla a sebelisitsoeng ho X direction. |
|
43 |
Six-axis Force Torque Sensor Y-direction Torque E Feta Moedi
Ka kopo fokotsa matla a sebelisitsoeng ho Y direction |
|
44 |
Six-axis Force Torque Sensor Z-direction Torque E Feta Moeli Ka kopo fokotsa matla a sebelisitsoeng ho Z |
|
45 |
Six-axis Force Torque Sensor Tx Torque E Feta Moeli
Ka kopo fokotsa torque e sebelisitsoeng ho potoloha axis ea X |
|
46 |
Six-axis Force Torque Sensor Ty direction Torque Feed Limit Ka kopo fokotsa torque e kentsoeng ho potoloha Y axis. |
|
47 |
Six-axis Force Torque Sensor Tz direction Torque Feed Limit Ka kopo fokotsa torque e sebelisitsoeng ho potoloha Z axis. |
|
49 |
Six-axis Force Torque Sensor E hlolehile ho Qalisa Ka kopo, hlahloba
1. Hore na sekhahla sa baud sa Moqokeleli oa Lintlha le Six-axis Force Sensor ea Torque e tšoana. 2. Hore na terata e pakeng tsa Data Collector le Six-axis Force Torque Sensor e hokahane hantle. |
| Bakeng sa likhoutu tsa liphoso tse sa thathamisoang tafoleng e kaholimo: Ka kopo, tobetsa "Hlakola Phoso" hlakola phoso.
Haeba e tlaleha phoso e ts'oanang khafetsa, ka kopo ikopanye le ts'ehetso ea tekheniki. |
|
6 Litlhaloso tsa Sensor tsa Axis Force Torque
| Fx, Fy | Fz | Tx, Ty, Tz | ||
| Boima ba moroalo | 150N | 200N | 4Nm | |
| Qeto | Nako | Nako | 5mNm | |
| Hysteresis | 2.5% FS | 1% FS | 1% FS | |
| Crosstalk | 3% FS | 3% FS | 3% FS | |
| Bokhoni ba ho tlala | 150% | 150% (Fz+)
300% (Fz-) |
150% |
| boima | 595g |
Tšebeletso ea ka mor'a thekiso
Leano la ka mor'a thekiso:
Bakeng sa lintlha tse qaqileng ka mor'a ho rekisa leano la sehlahisoa, bona ofisiri websebaka:
https://www.ufactory.cc/pages/warranty-returns
- Mokhoa o akaretsang oa ts'ebeletso ea kamora thekiso ke:
- Ikopanye le tšehetso ea tekheniki ea UFACTORY (support@ufactory.cc) ho netefatsa hore na sehlahisoa se hloka ho lokisoa le hore na ke karolo efe e lokelang ho khutlisetsoa UFACTORY.
- Ka mor'a sekoloto sa thepa ea UPS/DHL, re tla u romella invoice le leibole ka poso. U hloka ho etsa tumellano le UPS/DHL ea lehae ebe u re romella sehlahisoa.
- UFACTORY e tla hlahloba boemo ba tiisetso ea sehlahisoa ho latela leano la kamora ho rekisa.
- Ka kakaretso, ts'ebetso e nka libeke tse 1-2 ntle le ho romelloa.
Hlokomela:
-
- Ka kopo boloka thepa ea pele ea ho paka ea sehlahisoa. Ha o hloka ho khutlisa sehlahisoa ho ea lokisoa, ka kopo paka sehlahisoa ka lebokose la pele ho sireletsa sehlahisoa nakong ea lipalangoang.
Litokomane / Lisebelisoa
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UFACTORY xArm 6 Axis Force Torque Sensor [pdf] Bukana ea Mosebelisi xArm, 6 Axis Force Torque Sensor, Force Torque Sensor, Torque Sensor, xArm, Sensor |
