六维微型力/力矩传感器静态标定平台的设计

Design of Static Calibration Platform for Six-dimensional Miniature Force/Torque Sensor

在使用腔镜手术机器人手术过程中,在手术器械钳端及腕部之间放置六维微型力/力矩传感器能够将手术器械与组织间的交互作用力反馈给医生,但目前缺少针对六维微型力/力矩传感器的静态标定平台。为满足六维微型力/力矩传感器的静态标定要求,设计了一种基于砝码施力的六维微型力/力矩传感器静态标定平台并制作原理样机。给出了结构设计、规划了6个方向上的加载方式并分析了一类误差和二类误差,分析结果表明:六维微型力/力矩静态标定平台能够分别对传感器6个方向稳定施加最大10 N及150 N·mm的力/力矩,Ⅰ类误差不大于1.307%、Ⅱ类误差不大于1.85%,满足六维微型力/力矩传感器静态标定的要求。

In the process of using endoscopic surgical robots for surgery,placing a six dimensional miniature force/moment sensor between the forceps clamp end and the wrist can provide feedback on the interaction force between the surgical instrument and the tissue to the doctor.Currently there is a lack of static calibration platforms for six dimensional miniature force/moment sensors.To meet the static calibration requirements of six dimensional miniature force/moment sensors,this paper designed a static calibration platform for six dimensional miniature force/moment sensors based on force applied by weight and made a prototype.The structure of the platform was designed,the loading mode in six directions was planned,and the type Ⅰ error and type Ⅱ error were analyzed.The results show that the six dimensional micro force/torque static calibration platform can stably apply a maximum force/moment of 10 N and 150 N·mm in six directions of the sensor,with Class Ⅰ errors not exceeding 1.307% and Class Ⅱ errors not exceeding 1.85%,meeting the requirements for static calibration of six dimensional micro force/torque sensors.