A six-dimensional force/torque sensor calibration device and calibration method

Abstract

The invention discloses a six-dimensional force / torque sensor calibration device and calibration method. The device comprises a calibration work bench, wherein two ends of the calibration work bench are respectively provided with a supporting rod, upper ends of the supporting rods are provided with pulleys, the pulleys on the two supporting rods are parallelly arranged, the calibration work benchis movably provided with a sensor base used for fixing a six-dimensional force sensor, the sensor base is detachably connected with a load loading rod, two ends of the load loading rod are respectively provided with a connection hole used for fixing a load loading rope, the load loading ropes are connected with a tensiometer through the pulleys, and dynamic or / and static calibration of the six-dimensional force sensor is performed.

Description

technical field [0001] The invention relates to a six-dimensional force / torque sensor calibration device and a calibration method. Background technique [0002] The six-dimensional force-torque sensor is used to detect the forces Fx, Fy, Fz and moments Mx, My, Mz in three-dimensional space, and is 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, 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, it is necessary to calibrate the six-dimensional force-torque sensor, and then the solution process can be completed through the solution algorithm. Since the accuracy of the sensor is determined by the calibration device, the ...

AI Technical Summary

Problems solved by technology

Due to the mechanical processing 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.

[0004] The Chinese patent number is: ZL200810020511.4 discloses a jack loading calibration method, 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 platform, the patent uses hydraulic loading, and uses a single-dimensional pressure sensor to measure the loading force value, the device has the advantage of large loading force range, and the loading 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 a large number of six-dimensional force sensors, but the device cannot apply single-dimensional force and torque to the six-dimensional force sensor. The load of the 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 removing codes and loading, but this device still cannot implement a single-dimensional force and moment load on the six-dimensional force and moment sensor

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