ATI六轴力/扭矩传感器系统安装手册合集

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美国Advanced Technical Intelligence (ATI) 公司提供了一套详细的六轴力/扭矩传感器系统手册，包括"Six-Axis Force/Torque Transducer without Electronics (TWE)"型号的产品。这套手册由两部分组成：F/T控制器安装和操作手册（Manual #9620-05-TWE）以及F/T无电子元件力/扭矩传感器的安装和操作手册。在"Six-Axis Force/Torque Transducer without Electronics (TWE)"系列中，TWE传感器是一个关键组件，它专门设计用于工业机器人和自动化应用中，能够精确测量六个自由度的力和扭矩，即X、Y、Z轴的力和对应的力偶矩。这些传感器在提高机器人生产力和精度方面起着至关重要的作用，适用于需要高精度力和扭矩控制的场合，例如装配、焊接、抓取和搬运等任务。 F/T控制器安装和操作手册涵盖了如何正确安装和配置这个传感器，确保其与设备的兼容性，以及如何进行有效的信号调理和数据采集。内容可能包括传感器的机械接口和电缆连接，电源需求，零点校准，以及如何通过数字输入输出（DI/O）或者模拟信号接口将传感器数据传输到控制系统。手册还可能包括安全注意事项、故障排查和维护指南，以确保传感器的稳定运行。另一份手册，可能是F/T Transducer的详细技术规格和用户指南，提供了传感器的工作原理、性能参数、规格表以及典型应用示例，帮助用户理解其在实际操作中的功能和局限性。此外，手册可能还包含了软件工具的使用方法，如数据解析软件，以便于用户对收集的数据进行分析和处理。这些文档对于ATI的六轴力/扭矩传感器系统的使用者来说是不可或缺的资源，无论是工程技术人员、机器人集成商还是最终用户，都能从中获得宝贵的指导和信息，确保他们能充分利用这些传感器提升设备的性能和可靠性。

TWE F/T Transducer Installation and Operation Manual

Document #9620-05-TWE-03

Pinnacle Park

•

1031 Goodworth Drive

•

Apex, NC 27539

•

Tel: +1-919-772-0115

•

Fax: +1-919-772-8259

•

www.ati-ia.com

•

Email: info@ati-ia.com

- 14 -

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TWE F/T Transducer Installation and Operation Manual

Document #9620-05-TWE-03

Pinnacle Park

•

1031 Goodworth Drive

•

Apex, NC 27539

•

Tel: +1-919-772-0115

•

Fax: +1-919-772-8259

•

www.ati-ia.com

•

Email: info@ati-ia.com

- 16 -

Semiconductor strain gauges are attached to the beams and are considered strain-sensitive

resistors. The resistance of the strain gauge changes as a function of the applied strain as

follows:

ΔR = S

⋅ R

⋅ ε

where:

ΔR = Change in resistance of strain gauge

= Gauge factor of strain gauge

= Resistance of strain gauge unstrained

ε = Strain applied to strain gauge

The output voltages from the transducer’s gauges are used to measure the change in

resistance. They must be combined mathematically to be converted into forces and torques.

This process is discussed in Section 4.3.

4.1.2 Electrical Description

Your transducer is instrumented with high-quality silicon strain gauges. The high output of

these silicon strain gauges requires far less amplification than foil-based strain gauges. The

higher amplification required by foil strain gauges boosts their signals and any noise

present. Since silicon strain gauges require less amplification there is less noise

amplification. Silicon strain gauges also allow transducers to survive higher overload

conditions without damage.

The transducer uses six half-bridge strain gauge pairs to sense loads. Each strain gauge has

a nominal resistance between 650Ω and 950Ω depending on transducer model. The

excitation power supply (SG

, SG

) needs to be able to supply a 200Ω load. Figure 4.2

shows the electrical equivalent schematic of the transducer.

Each half-bridge strain gauge pair measures a portion of the total transducer load. A load

places compressive strain on one member of the gauge pair and equally tensile strain on the

other member. The pair works together as a voltage divider to produce a signal representing

the pair’s load.

SG0 SG1 SG2 SG3 SG4 SG5

SG_lo

SG_hi

Thermistor1

Thermistor2

Figure 4.2—Transducer Equivalent Schematic

TWE F/T Transducer Installation and Operation Manual

Document #9620-05-TWE-03

Pinnacle Park

•

1031 Goodworth Drive

•

Apex, NC 27539

•

Tel: +1-919-772-0115

•

Fax: +1-919-772-8259

•

www.ati-ia.com

•

Email: info@ati-ia.com

- 18 -

4.2 Signal Conditioning Circuitry

Signal conditioning circuitry has several purposes:

• To minimize noise by amplifying the transducer signal. Signal conditioning circuitry should be

located near the transducer for best results.

• To provide high-impedance signals for a data acquisition system.

• To maximize the transducer’s resolution by optimizing the range of the output signals. This

usually means amplifying the output and applying any necessary offset so that the transducer’s

output range matches the input range of the data acquisition system’s analog-to-digital converter

(ADC).

4.2.1 Strain Gauge Amplification and Hardware Bias

The interface circuits to all six strain gauge signals should have excitation, amplification,

and hardware bias.

4.2.1.1 Excitation

We recommend an excitation of 0.000V and +5.000V using a low-noise, low-

drift voltage source. Any drift in the output voltage will cause a gain error in

your output equal to the ratio of the drift in volts divided by the nominal power

supply output voltage. You can compensate for this drift by measuring the

power supply voltage and using it along with the strain gauge readings rather

than using a constant for the power supply voltage.

Since the noise present in this source directly impacts the noise seen in your

system it is important to use a low-noise source. The amount of noise transferred

to your outputs will be approximately equal to the power supply noise divided

by the excitation voltage and then multiplied by the output range.

For example let’s use a +5V excitation power supply with 300µV noise and a

system output range of ±5V (i.e., a 10V range) that is fed into a 16-bit A/D

converter. The output noise directly attributable to the power supply is 300µV ×

5V ÷ 10V = 150µV. This is approximately equal to one bit of noise for the 16-

bit A/D converter. (One bit of noise for the converter is the voltage range

divided by the number of quantization points. For the 16-bit A/D with a 10V

range this is equal to 10V ÷ 2

= 152.6µV.)

4.2.1.2 Amplification.

The optimum amplification for each gauge is calculated by the TWE Calibration

Spreadsheet that is included on the system CD. These target gains will optimize

the transducer’s output range. It is not necessary to match these gains exactly.

However, setting the gain too high could cause early ADC saturation (decreased

range), and setting it too low could cause a decrease in resolution. Although the

ideal gains for the six channels are all different, they are typically similar,

enabling you to use the same type of amplifier circuit for each, if you choose.

4.2.1.3 Hardware Bias.

The nominal unloaded output of each of the half bridges is the voltage halfway

between SG

(upper excitation voltage) and SG

(lower excitation voltage) or

LOHI

nom

SGSG

= .

All strain gauge output voltages will have some offset bias voltage present. This

offset bias voltage is the shift of the strain gauge output from ideal unloaded

output (SG

nom

). The hardware bias values for your transducer were measured

during calibration and can be found in the TWE Calibration Spreadsheet.

Removing this offset voltage prior to amplifying the signals will allow you to

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