Calibration device and method of six-axis force/torque sensor

Abstract

The invention discloses a calibration device and method of a six-axis force / torque sensor. The calibration device comprises a calibration workbench, a rotating workbench, a force value loading device, a torque loading device, a calibration switching device and the like. The rotating workbench mounted on the calibration workbench achieves precise angle rotating of the six-axis force / torque sensor, a side pulley support fixed on a stand column can move vertically along with the different height of the sensor, and therefore a steel wire rope is kept in a horizontal state. The calibration device and method of the six-axis force / torque sensor have the advantages of being simple in operation, good in universality, capable of meeting the calibration requirement of the six-axis force / torque sensor in different measuring range, and capable of achieving torque calibration of the senor with a middle measuring range through the way of changing a calibration force arm.

Description

technical field [0001] The invention relates to a calibration device and a calibration method for a six-dimensional force / torque sensor, which is particularly suitable for calibration of a six-dimensional force / torque sensor with a small and medium range. Background technique [0002] Six-dimensional force / torque sensors are used to detect forces (Fx, Fy, Fz) and moments (Mx, My, Mz) in three-dimensional space, and are widely used in aerospace, manufacturing and assembly, sports competitions, and teleoperation robots. Due to the machining error in the manufacturing process of the six-dimensional force / torque sensor, the resistance value of the resistance strain gauge and the patch position error, etc., the relationship between the input force value and the output voltage of the six-dimensional force / torque sensor is uncertain. . In order to be able to determine this relationship, the six-dimensional force / torque sensor needs to be calibrated, and then the decoupling process...

AI Technical Summary

Problems solved by technology

Due to the machining error in the manufacturing process of the six-dimensional force / torque sensor, the resistance value of the resistance strain gauge and the patch position error, etc., the relationship between the input force value and the output voltage of the six-dimensional force / torque sensor is uncertain.

The Chinese patent number is: ZL200810020511.4 discloses a method of jack loading calibration, which has the characteristics of large loading range and small loading workload, but the jack has the characteristics of unstable loading force value and low accuracy, which makes the device The calibration accuracy is not high

The Chinese patent application publication number is: CN101776506A discloses a large-scale multi-dimensional force sensor calibration loading table, the patent adopts hydraulic loading, and uses a single-dimensional pressure sensor to measure the loading force value. The force value is continuously adjustable, but the hydraulic loading system also has the disadvantage of unstable loading force value

The Chinese patent number is: ZL200510050834.4 discloses a stepless lifting type six-dimensional force sensor calibration device. The large speed ratio reducer applies load to the six-dimensional force sensor. This device can calibrate the six-dimensional force sensor with large size and large range, but the device cannot apply single-dimensional force / torque to the six-dimensional force sensor. At the same time, the device Loading with a manual reducer makes it difficult to control the loading force value, and it is impossible to accurately calibrate the six-dimensional force / torque sensor

The Chinese patent application publication number is: CN101936797A discloses a method of calibrating a six-dimensional force sensor by means of weight loading, but this device still cannot implement a single-dimensional force / torque load on the six-dimensional force / torque sensor

The above two calibration devices can only perform composite force / torque calibration loading tests on the six-dimensional force sensor, so the decoupling matrix of the six-dimensional force sensor can only be solved using the theory based on the generalized inverse of the matrix. This method has a large amount of calculation and is easy to produce ill-conditioned matrix, which affects the accuracy of decoupling

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