选型方法 SIZING A TRANSDUCER
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How to Select an F/T Transducer
1. Calculate Expected Moment and Forces
Moment capacity is usually the determining factor in
choosing the best transducer model for your application.
The end-effector attached to the transducer as well as
the tasks being performed will generate forces on the
transducer, which will result in a moment. The moment
is the applied force (dynamic and static together) multiplied
by the distance from the transducer origin to the point
at which the force is applied. It is important to also
consider overload conditions beyond the normal operating
forces and moments the transducer will experience.
2. Identify Transducer Strength
Use the Quick-Selection Guide on page 3 to compare the
measuring ranges of the transducer models available.
3. Verify Resolution
Next, the required resolution should be considered. A
fine resolution requirement can conflict with a transducer
chosen based on moment capacity. Transducers with
larger ranges have coarser resolutions.
4. Inspect Other Transducer Specifications
Compare the detailed specifications of the chosen
transducer to those of your application requirements to
be certain the chosen transducer is appropriate for your
application.
Options
While our standard systems provide all the necessary
components for measuring force and torque, we also
have available options which may aid in interfacing the
F/T sensor system with special applications.
Interface Plates: All F/T transducers come with standard
interface plates. Some models have threaded hole
patterns machined into both sides that are used for
attaching to the customer's equipment. Others have a
threaded hole pattern on the tool side and a blank plate
on the mounting side. The blank plate is machined by the
customer to accommodate specific mounting require-
ments. For exact specifications for the various transducer
models, refer to the product drawings in this catalog.
Custom Interface: ATI can help you design and fabricate
interface plates needed for a nominal price. Please
contact an ATl salesperson for additional information.
K-.—? INDUSTRIAL
AUTOMATION
SIZING A TRANSDUCER 150 9001 Rogistered —
Example:
The expected maximum measured load is 98 N (10 kg)
of force and the end-effector is 25 cm long. The moment
generated would be 24.5 Nm.
The best F/T would be a Delta/SI-330-30 (330 N, 30 Nm)
which can handle the 24.5 Nm moment. The maximum
single-axis moment rating (Txy) of this model is 190 Nm,
which should be sufficient for overload situations.
Note:
The published payloads of robots are typically the maximum load the
robot can handle at published positional resolution. The robot can
actually handle much larger loads, but with some loss of positional
repeatability. During a crash both inertia:and the sudden deceleration can
generate large loads. Robots are typically overpowered for an application,
and the robot is capable of exerting forces many times its rated load.
You may decide to select a transducer with a lower payload with the
understanding that this will increase the chances of damaging the
transducer during a crash.
We highly recommend the use of a robotic collision sensor or breakaway
device such as ATl's Collision Sensor as an added measure of F/T
transducer protection in all robotic applications.
Multiple Calibrations: \ith this option, one transducer
can have more than one calibration. The Net F/T and
DAQ systems allow calibrations to be selected via
software, while the Controller F/T uses a switch and
software control. This allows the use of one calibration
for a low payload with high resolution, and the other
calibration for a larger payload with a lower resolution.
Environmental Protection: Several models of
transducers are available with IP60, IP65 and IP68 (10m)
protection. An IP60 version is for use in dusty
environments. The IP65 version of the transducer
provides protection against water spray. The IP68
version is for underwater environments to a maximum
depth of 10 meters in fresh water. Contact ATl Industrial
Automation for drawings and more information.
VISIT WWW.ATI-IA.COM FOR CURRENT PRODUCT SPECIFICATIONS, 2-D DRAWINGS, AND 3-D CAD MODELS 9
