预紧式并联六维力传感器容错测量机理与标定测试研究

Fault-tolerant Measurement Mechanism and Calibration Experimental Study of Pre-stressed Parallel Six-axis Force Sensor

对一种预紧式并联六维力传感器进行了容错测量原理的理论分析与标定测试研究。介绍了预紧式并联六维力传感器的结构容错特点,并基于螺旋理论和变形协调关系,分别建立传感器无故障、信号故障时的数学模型,进而揭示其容错测量机理。研究分析了预紧式并联六维力传感器的静态标定算法,提出一种容错标定方法,并对传感器进行了无故障及信号故障时单向、两方向组合及分区加载的容错静态标定测试研究。通过分析测试数据,得到传感器不同工作状态下的线性误差。研究内容为容错六维力传感器的实际应用奠定了理论和试验基础。

For a pre-stressed six-axis force sensor, the theoretical analysis and experimental study of fault-tolerant measurement mechanism are carried out. The fault-tolerance characteristic of pre-stressed parallel six-axis force sensor is introduced, with the screw theory and deformation coordination, the mathematic models including fault-free mathematic model and signal fault mathematic model are established, respectively. Moreover, the fault-tolerant measurement principle is revealed. The static calibration algorithm of the pre-stressed parallel six axis force sensor is analyzed, a fault-tolerant calibration method is proposed and the static calibration includes unidirection loading, bidirectional combined loading and sectional loading of the sensor is carried out including the models with and without signal fault. Through analyzing the experimental data, the linear error of the sensor is drawn under different working conditions. The research lays a theoretical and experimental foundation for the application of the fault-tolerant six-axis force sensor.