Plane three-degree-of-freedom displacement and force sensor based on hyperelastic memory alloy wire

The invention discloses a planar three-degree-of-freedom displacement and force sensor based on a hyperelastic memory alloy wire. The planar three-degree-of-freedom displacement and force sensor is mainly composed of an external frame structure, an internal planar three-degree-of-freedom movable structure, the hyperelastic memory alloy wire, a resistance measuring device and a data analysis device. The internal and external structures of the sensor are connected through a super-elastic memory alloy wire, the internal structure is connected with a measured component through a screw, and the external structure is fixed through a screw. Movement of the measured component drives the internal component to do the same movement, movement of the internal component causes change of the length of the alloy wire, and change of the length of the alloy wire causes change of the resistance. The resistance measuring device feeds back the real-time resistance information of the alloy wire to the data analysis device, the dat