UFACTORY xArm 6 Axis Force Torque sensọ

Gbogbogbo Igbejade

6 Axis Force Torque Sensọ Ifihan

Sensọ xArm 6 Axis Force Torque ti a ṣe apẹrẹ fun agbara ati gbigba data lori xArm, o le ṣe iwọn agbara ati iyipo nigbakanna ni aaye onisẹpo mẹta. O ti fi sori ẹrọ lori flange ọpa ọpa xArm, okun ti o rọ ni a lo fun agbara ati awọn ibaraẹnisọrọ.

Singal ibudo
Sensọ 6 Axis Force Torque nilo lati lo pẹlu ibudo ifihan agbara. Ibudo ifihan agbara ni awọn atọkun itanna marun.

Aabo

Oniṣẹ gbọdọ ka ati loye gbogbo awọn itọnisọna ni isalẹ ṣaaju ṣiṣe Sensọ Axis Force Torque 6.

Ikilo

1. Sensọ Axis Force Torque 6 nilo lati fi sori ẹrọ daradara ṣaaju ṣiṣe.
2. Ma ṣe fi sii tabi ṣiṣẹ Sensọ Axis Force Torque 6 ti o bajẹ tabi aini awọn ẹya.
3. Maṣe pese sensọ 6 Axis Force Torque pẹlu orisun omiiran lọwọlọwọ (AC).
4. Rii daju pe gbogbo awọn eto okun nigbagbogbo ni aabo ni awọn opin mejeeji, 6 Axis Force Torque Sensor opin & opin Robot.
5. Nigbagbogbo ni itẹlọrun awọn pato fifuye Sensọ 6 Axis Force Torque Sensor.
6. Rii daju pe ko si ohunkan ninu roboti ati ọna sensọ 6 Axis Force Torque ṣaaju lilo.

Išọra
Ọrọ naa “oṣiṣẹ” n tọka si ẹnikẹni ti o ni iduro fun eyikeyi awọn iṣẹ wọnyi lori Sensọ Axis Force Torque 6:

• Fifi sori ẹrọ
• Iṣakoso
• Itoju
• Ayewo
• Iyọkuro
• Isọdiwọn

Iwe-ipamọ yii ṣe alaye awọn oriṣiriṣi awọn ẹya ara ẹrọ ti Sensọ Axis Force Torque 6 Axis Force ati awọn iṣẹ gbogbogbo nipa gbogbo igbesi aye-aye ti ọja lati fifi sori ẹrọ si iṣẹ ati idinku.
Awọn iyaworan ati awọn fọto ti o wa ninu iwe yii jẹ aṣoju examples ati awọn iyatọ le wa laarin wọn ati ọja ti a firanṣẹ.

Igbelewọn Ewu ati Ohun elo Ik
Sensọ Axis Force Torque 6 jẹ itumọ lati lo lori roboti ile-iṣẹ kan. Robot, sensọ iyipo agbara ati eyikeyi ohun elo miiran ti a lo ninu ohun elo ikẹhin gbọdọ jẹ iṣiro pẹlu igbelewọn eewu. Integration robot gbọdọ rii daju pe gbogbo awọn ọna aabo ati awọn ilana ni a bọwọ fun. Ti o da lori ohun elo naa, awọn eewu le wa ti o nilo aabo afikun/awọn ọna aabo, fun example, awọn iṣẹ-nkan 6 Axis Force Torque Sensọ ti wa ni ifọwọyi le jẹ inherently lewu si oniṣẹ.

Wiwulo ati Ojuse
Nigbagbogbo ni ibamu pẹlu agbegbe ati/tabi awọn ofin orilẹ-ede, awọn ilana ati awọn itọsọna lori aabo adaṣe ati aabo ẹrọ gbogbogbo.
Ẹka naa le ṣee lo nikan laarin iwọn data imọ-ẹrọ rẹ. Lilo eyikeyi ọja ni a ro pe ko tọ ati lilo airotẹlẹ. UFACTORY kii yoo ṣe oniduro fun eyikeyi bibajẹ ti o waye lati eyikeyi aibojumu tabi lilo airotẹlẹ.

Fifi sori ẹrọ

Awọn abala atẹle wọnyi yoo ṣe itọsọna fun ọ nipasẹ fifi sori ẹrọ ati iṣeto gbogbogbo ti Sensọ Axis Force Torque 6.

1. Awọn Dopin ti Ifijiṣẹ apakan
2. The Mechanical fifi sori apakan

Ikilo
Ṣaaju fifi sori ẹrọ:

Ka ati loye awọn ilana aabo ti o jọmọ sensọ 6 Axis Force Torque.
Daju package rẹ ni ibamu si Dopin ti ifijiṣẹ ati alaye aṣẹ rẹ.
Ṣe awọn ẹya ti a beere, ohun elo ati awọn irinṣẹ ti a ṣe akojọ si awọn ibeere ni imurasilẹ.

Fifi sori ẹrọ:
Ṣe itẹlọrun awọn ipo ayika.
Ma ṣe ṣiṣẹ Sensọ Axis Force Torque 6, tabi paapaa tan ipese agbara, ṣaaju ki o to diduro mulẹ ati pe agbegbe ewu ti yọ kuro.

Dopin ti Ifijiṣẹ
Ohun elo sensọ Axis Force Torque 6 ni gbogbogbo pẹlu awọn nkan wọnyi:

1. 6 Axis Force Torque sensọ * 1
2. Gbigbe Flange * 1
   (Aworan Ọja fun itọkasi nikan, jọwọ bori ni iru)
3. Ibudo ifihan agbara*1
4. Okun agbara fun Arm Robotic * 1
5. Okun ibaraẹnisọrọ fun Arm Robotic*1
6. Agbara / okun ibaraẹnisọrọ fun 6 Axis Force Torque Sensor * 1
7. M3*8 Ori hexagon iho skru (6) ati M3 isun omi ifoso (6)
8. M6*8 Ori hexagon iho skru (6) ati M3 isun omi ifoso (6)
9. 2.5MM L iru wrench * 1
10. 5MM L iru wrench * 1
11. Velcro (mita 3)

Fifi sori ẹrọ ẹrọ

1. Tẹ bọtini idaduro E lori apoti iṣakoso.
2. Fi sori ẹrọ Flange iṣagbesori lori flange ipari nipa lilo awọn skru 4 M6 * 8 (aṣọ orisun omi gbọdọ ṣee lo papọ).
3. Fi sensọ 6 Axis Force Torque sensọ sori Flange iṣagbesori nipa lilo awọn skru 4 M3 * 8 (aṣọ orisun omi gbọdọ ṣee lo papọ).
4. Isopọ okun pẹlu Ibudo ifihan agbara:
   So awọn kebulu 5 pọ ni ọkọọkan ni ibamu si asọye wiwo itanna ti Ibuwọlu Ibuwọlu.
5. Lilo Velcro lati duro okun agbara / ibaraẹnisọrọ ibaraẹnisọrọ si apa roboti.
   (Maṣe duro ṣinṣin ju, maṣe fi Velcro sori sensọ iyipo)
6. Tẹ bọtini idaduro E soke lori apoti iṣakoso.

Iṣakoso

Iṣakoso 6 Axis Force Torque Sensor nipasẹ Python-SDK 

Fun awọn alaye lori iṣakoso 6 Axis Force Torque Sensor pẹlu python-SDK, jọwọ tọka si ọna asopọ ni isalẹ:
https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/example/wrapper/common/8003-force_control.py

Wọpọ ni wiwo

• ft_sensor_enable(): jeki sensọ iyipo agbara
• ft_sensor_set_zero()： ṣeto ipo lọwọlọwọ si aaye odo ti snesor iyipo agbara
• ft_sensor_app_set () ： ṣeto ipo iṣakoso ti sensọ iyipo agbara get_ft_sensor_data() ： gba data ti sensọ iyipo agbara
• ft_ext_force: gba data lẹhin sisẹ, fifuye ati isanpada aiṣedeede ft_raw_force： gba data aise ti sensọ iyipo agbara

Iṣakoso 6 Axis Force Torque sensọ nipasẹ C ++ SDK

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

Axis Force Torque sensọ koodu

Software Asise Koodu	Asise Mimu
C50	Six-axis Force Torque sensọ aṣiṣe Jọwọ ṣayẹwo koodu aṣiṣe sensọ, wa iṣoro naa, ki o si tan-an lẹẹkansi. Ti ko ba le yanju, jọwọ kan si atilẹyin imọ-ẹrọ.
C51	Aṣiṣe Ṣiṣeto Ipo Sensọ agbara Torque-apa mẹfa Jọwọ rii daju pe apa roboti ko si ni Ipo Afowoyi, ṣayẹwo boya iye ti a fun ni aṣẹ yii jẹ 0/1/2
C52	Aṣiṣe Eto Ifilelẹ Odo Agbofinro Torque Six-axis Jọwọ ṣayẹwo onirin ibaraẹnisọrọ sensọ ati boya agbara jẹ deede.
C53	Apoju sensọ agbara Torque-axis Jọwọ dinku fifuye isanwo tabi agbara ita ti a lo.
SDK Koodu aṣiṣe	Asise Mimu
40	Ikuna Ibaraẹnisọrọ Sensọ agbara Torque-apa mẹfa Jọwọ ṣayẹwo boya okun waya laarin Olugba data ati awọn Sensọ Agbofinro Agbofinro mẹfa ti sopọ mọ daradara
41	Data ti a rii nipasẹ Sensọ Agbara Torque Six-axis jẹ Aiṣedeede Jọwọ kan si atilẹyin imọ-ẹrọ
42	Iwọn-ipo mẹfa Force Torque Sensor X-itọsọna Torque Tayọ Ifilelẹ Jowo dinku agbara ti a lo ni itọsọna X
43	Six-axis Force Torque sensọ Y-itọnisọna Torque koja iye to Jọwọ dinku agbara ti a lo ni itọsọna Y
44	Six-axis Force Torque Sensor Z-itọsọna Torque Tayọ Ifilelẹ Jowo dinku agbara ti a lo ni itọsọna Z

45	Agbofinro-apa mẹfa Force Sensor Torque Tx Torque Rekọja Ifilelẹ Jọwọ din iyipo ti a lo ni ayika ipo X
46	Itọnisọna Sensọ Ty torque Six-axis Force Torque Rere Opin Jọwọ dinku iyipo ti a lo ni ayika ipo Y
47	Itọnisọna Six-axis Force Torque Sensor Tz Torque Rere Opin Jọwọ dinku iyipo ti a lo ni ayika ipo Z
49	Sensọ Agbofinro Agbofinro mẹfa ti kuna lati pilẹṣẹ Jọwọ ṣayẹwo 1. Boya awọn baud oṣuwọn ti awọn Data-odè ati awọn mefa-axis Force Sensọ Torque jẹ kanna. 2. Boya awọn waya laarin awọn Data-odè ati awọn Six-axis Force Torque sensọ ti wa ni ti sopọ daradara.
Fun awọn koodu aṣiṣe ti a ko ṣe akojọ si ni tabili loke: Jọwọ tẹ "Aṣiṣe Nu" ko aṣiṣe naa kuro. Ti o ba jabo aṣiṣe kanna leralera, jọwọ kan si atilẹyin imọ-ẹrọ.

6 Axis Force Torque sensọ pato

	Fx, Fy	Fz	Tx, Ti, Tz
Agbara fifuye	150N	200N	4Nm
Ipinnu	100mN	150mN	5mNm
Hysteresis	2.5% FS	1% FS	1% FS
Àsọyé	3% FS	3% FS	3% FS
Apọju agbara	150%	150% (Fz+)   300% (Fz-)	150%

iwuwo

595g

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   4. Ni gbogbogbo, ilana naa gba to ọsẹ 1-2 ayafi fun gbigbe.

Akiyesi:

1. 1. Jọwọ tọju awọn ohun elo iṣakojọpọ atilẹba ti ọja naa. Nigbati o ba nilo lati firanṣẹ ọja pada lati ṣe atunṣe, jọwọ gbe ọja naa pẹlu apoti atilẹba lati daabobo ọja naa lakoko gbigbe.

Awọn iwe aṣẹ / Awọn orisun

UFACTORY xArm 6 Axis Force Torque sensọ [pdf] Afowoyi olumulo xArm, 6 Axis Force Torque Sensor, Force Torque Sensor, Torque Sensor, xArm, Sensọ

Awọn itọkasi

• Itọsọna olumulo