Calibration method of six-dimensional force sensor

Abstract

The invention discloses a calibration method of a six-dimensional force sensor. A calibration device of the six-dimensional force sensor is used in the method. The method comprises the following steps of 1) calibration of the calibration device; 2) loading in the Fx direction; 3) loading in the Fy direction; 4) loading in the Fz direction; 5) loading in the Mx direction of the six-dimensional force sensor; 6) loading in the My direction of the six-dimensional force sensor; and 7) loading in the Mz direction of the six-dimensional force sensor. According to the calibration method, different dimensions of the six-dimensional force sensor can be accurately loaded successively, loaded experimental data is analyzed to obtain the static performance index of the sensor, reasons causing errors are analyzed, design the six-dimensional force sensor can be improved via the method, and reference is provided for metering standard and magnitude tracing of the six-dimensional force sensor.

Description

technical field [0001] The invention relates to an experimental method for static calibration of a six-dimensional force sensor, in particular to a calibration method for a six-dimensional force sensor. Background technique [0002] With the continuous development of robots in the direction of intelligence, the six-dimensional force sensor, an important component of robot intelligence, has received more and more attention and attention. The calibration of the six-dimensional force sensor is a key link before it is put into use. In order to accurately load the sensor during calibration and collect calibration data efficiently, research and design of an advanced high-precision six-dimensional force sensor calibration system is the key to realizing the six-dimensional force sensor calibration system. Guarantee of accurate and efficient calibration of Weili sensors. [0003] At present, compared with the rapid development of new sensors, my country is relatively backward in the...

AI Technical Summary

Problems solved by technology

[0003] At present, compared with the rapid development of new sensors, my country is relatively backward in the measurement and testing technology and testing methods of new sensors. Accurate, traceable, and simple verification methods; at the same time, due to poor product stability, consistency, and reliability, many important sensors are mainly met through imports.

Our country still cannot meet the needs of economic construction and social development in terms of new sensor measurement and detection technology and devices.

[0004] Although there are many calibration methods and calibration devices for six-dimensional force sensors, there is no verification method for six-dimensional force sensors in China, and there is no corresponding verification procedure. Therefore, it is urgent to establish a measurement and testing method for six-dimensional force sensors. and devices, and on the basis of it, establish the verification specifications and standards for six-dimensional force / torque sensors, thereby providing an important guarantee for the use of six-dimensional force and torque sensors

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