Six-dimensional force sensor decoupling and error calculation method
A six-dimensional force sensor and error calculation technology, which is applied in the direction of instruments, measuring force, measuring devices, etc., can solve the problems of time-consuming and labor-intensive decoupling process, unfavorable engineering implementation, etc.
Inactive Publication Date: 2015-09-23
CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
View PDF4 Cites 13 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
This method requires multiple measurements in the direction of increasing and decreasing loads, and the decoupling process is time-consuming and laborious, which is not conducive to engineering implementation
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0034] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0035] figure 1 It is a schematic flow chart of the method of the present invention, as shown in the figure, the method comprises the following steps: Step 1: select the positive and negative direction calibration points of each force component; Step 2: independently load F xLoad at each calibration point in the direction, do 6 times for each load point, and record the voltage value measured each time; Step 3: Fit the voltage-force curve of each measurement in Step 2 according to the least square principle; Step 4: Simulate Combine the remaining dimensional voltage-force curves; step five: calculate the maximum value and minimum value of the voltage U in the 95% confidence interval; step six: statistically organize the experimental data to obtain matrices A and B.
[0036] Define the force and moment of the six-dimensional force sensor in ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a six-dimensional force sensor decoupling and error calculation method, which belongs to the technical field of six-dimensional force sensor design and manufacturing. The six-dimensional force sensor decoupling and error calculation method comprises the steps of: S1, selecting calibration points of force components in positive and negative directions of each dimension; S2, loading a load for each calibration point in an Fx direction respectively and independently, loading the load for each load point six times, and recording a voltage value measured each time; S3, fitting a voltage-force curve of each measurement in the S2 according to the least square principle; S4, fitting voltage-force curves of the rest dimensions according to the same principle; S5, calculating maximal and minimal values of a voltage U in a 95% confidence interval; S6; and carrying out statistical processing on experimental data to obtain matrices A and B. The six-dimensional force sensor decoupling and error calculation method is small in amount of decoupling calculation, and is convenient for engineering applications; meanwhile, the disclosed error calculation method allows the relative error upper limit of the forces of each dimension under the decoupling method to have a clear numerical value concept.
Description
technical field [0001] The invention belongs to the technical field of design and manufacture of six-dimensional force sensors, and relates to a six-dimensional force sensor decoupling and error calculation method. Background technique [0002] The six-dimensional force sensor can simultaneously detect full-force information in three-dimensional space, that is, three force components and three moment components, and is widely used in engineering practice. The current design of the six-dimensional force sensor generally adopts an integral structure, and there is generally a relatively complicated coupling relationship between the output channels. If the output data of each channel is not decoupled, the measurement accuracy of the sensor will be affected to a certain extent. Therefore, eliminating inter-dimensional coupling is the key to improving the measurement accuracy of the six-dimensional force sensor. [0003] Regarding the decoupling of the six-dimensional force sens...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/00
Inventor 赵克转徐泽宇
Owner CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI