Calibration method for six-dimension force sensor calibration device with medium measurement range

Abstract

The invention relates to a calibration method for a six-dimension force sensor calibration device with medium measurement range. When in calibration, a rotary table handle is rotated, a rotary table turnplate drives an adapter plate, a six-dimension force sensor and a loading plate to rotate together, wherein the adapter plate, the six-dimension force sensor and the loading plate are arranged on the rotary table turnplate; the rotating angle is controlled by the rotary table handle and is read form scale on the rotary table turnplate; weights with different masses and numbers are respectively hung on a back stress-applying level, a front stress-applying level and a center stress-applying level of the loading plate through drop hangers so as to realize the independent loading and the compound loading of Fx, Fy, Fz, Mx, My and Mz of six force or moment componenets through the change of loading positions, a loading matrix and a corresponding output matrix of the six-dimension force sensor are obtained and are performed the decoupling computation to obtain a coupling matrix, i.e. the calibration of the six-dimension force sensor is completed. The invention has simple structure, convenient operation and high calibration precision, and is suitable to the calibration and the test of the six-dimension force sensor with medium measurement range.

Description

technical field [0001] The invention relates to the field of automation, in particular to a calibration method suitable for a medium-range six-dimensional force sensor calibration device in the sensor field. Background technique [0002] The six-dimensional force sensor can simultaneously detect full force information in three-dimensional space, namely three-dimensional force information (Fx, Fy, Fz) and three-dimensional torque information (Mx, My, Mz), and is mainly used in force and force / position control occasions, such as contour tracking , precision assembly, coordination of both hands, six-dimensional force information detection in the test system, etc. [0003] The measurement accuracy of the sensor is one of the most important performance indicators for evaluating the sensor, and its errors include random errors and systematic errors. For the six-dimensional force sensor, its random error is mainly caused by internal signal processing circuit, quantization error, e...

AI Technical Summary

Problems solved by technology

[0008] First, the calibration device changes the direction of the applied load by adjusting the angle between the load transmission rope and the horizontal plane. When the volume is large or the rope is long, it is difficult to ensure sufficient accuracy by adjusting the angle between the load transmission rope and the horizontal plane. As a result, the applied load has a large direction error, which will directly affect the calibration accuracy; second, the pulley is used to apply the load in the calibration device, and the pulley has friction, which will cause a relatively large loading error, thus affecting the calibration Third, the six-dimensional force sensor in the calibration device applies a compound force / torque, which cannot achieve independent loading of each dimensional force / torque component

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