A Magnetic Coupled Rotary Composite Force Sensor

In many automatic production equipment, it is necessary to simultaneously measure the torsion and tension of the end-effector. However, the existing composite force sensors cannot be used in high-speed rotating equipment such as manipulators. In this work, through the research on the measurement principle, elastomer mechanical structure, installation method, electric signal processing method and decoupling method of the composite force sensor, a magnetic coupling rotary composite force sensor is designed, which can be installed on the high-speed rotating equipment. The internal components of the sensor are powered by a dynamic transformer coupled with infrared pulse signal transmission. The sensor can accurately detect the torsion and tension of the end-effector while the device rotates at high speed. By establishing decoupling matrix, the coupling interference is reduced. The comprehensive measurement accuracy of the sensor ≤0.5% F.S.