正交并联式六维力传感器设计与标定方法

近年来,随着我国航天航空、汽车工业、机器人应用等行业的快速发展,六维力传感器以其独特的优势,广泛应用于这些领域。但六维力传感器由于精度高、研究难,在设计和标校方面上受到诸多约束。该文首先介绍六维力传感器的特点及应用领域,然后提出正交并联式六维力传感器的工作原理,建立传感器的数学模型,最后对正交并联六维力传感器进行静态标定,有效减少传感器的实际测量误差。

In recent years,with the rapid development of aerospace,automotive industry,robot applications and other industries in China,six-dimensional force sensors are widely used in these fields because of their unique advantages.However,the six-dimensional force sensor is subject to many constraints in design and calibration because of its high precision and difficulty in research.This paper first introduces the characteristics and application fields of the six-dimensional force sensor,then puts forward the working principle of the orthogonal parallel six-dimensional force sensor,establishes the mathematical model of the sensor,and finally carries on the static calibration to the orthogonal parallel six-dimensional force sensor,so as to effectively reduce the actual measurement error of the sensor.