The invention relates to a Stewart six-dimensional
force sensor, six
branch chain rods distributed in an inclined manner are arranged between an upper platform and a lower platform, each
branch chain rod comprises an upper
rigid rod, an upper cross flexible hinge, a measuring unit, a lower cross flexible hinge and a lower
rigid rod which are sequentially connected from top to bottom, the upper
rigid rod is fixedly connected with the upper platform, and the lower rigid rod is fixedly connected with the lower platform. And the lower rigid rod is fixedly connected with the lower platform. A calibration device is used for calibrating a Stewart six-dimensional
force sensor. The invention relates to a Stuart six-dimensional
force sensor calibration method, which comprises the steps of off-line calibration and training and on-line measurement and calculation. The Stewart six-dimensional force sensor has the advantages of being large in rigidity, high in
bearing capacity, stable in structure, fast in dynamic response, high in precision, good in
isotropy and the like, and solves the problem that a traditional
linear algorithm cannot process complex nonlinear errors. The
measurement precision is reduced due to serious inter-dimensional
coupling; and the complexity of a high-precision model is too high and the high-precision model is difficult to run in real time in an
embedded system.