空间机械臂用六维力传感器静态标定系统研究

Research on static calibration system of six-axis force sensor for space manipulator

为解决极端温度环境对空间机械臂用六维力传感器测量精度的影响,设计一种新型六维力传感器静态标定系统。系统由标定实验台、数据采集装置和分体式温控装置组成。其中标定实验台包含18路独立标定力通道,通过一次装卡可实现12个方向标定力/力矩的加载。采用研华UNO-3083G作为工控机,通过研华PCI-1742U数据采集卡配以电源转换模块实现六维力传感器输出信号的高速采集。分体式温控装置由温控箱、保温箱和保温送风管组成,可实现不同温度条件下六维力传感器的标定实验校准。在此基础上,研究了标定系统误差来源,计算了系统主要误差值。研究结果表明:相较第Ⅰ类误差,第Ⅱ类误差是影响标定系统精度的主要因素,研制的新型六维力传感器标定系统总体误差小于2.10%,满足使用需求。

In order to solve the impact of extreme temperature environment on the measurement accuracy of the six-axis force sensor for space manipulator,a new six-axis force sensor static calibration system was designed.The system consists of a calibration platform,a data acquisition device,a split temperature control device.The calibration platform contained 18 independent calibration force channels.Twelve direction calibration force/moment loading could be loaded through one-time assembly.Advantech UNO-3083G was used as industrial computer.The output signal of six-axis force sensor could be collected at high speed through Advantech PCI-1742U data acquisition card and power conversion module.The split temperature control device was composed of temperature control box,insulation box and air supply pipe,which could realize the calibration experiment of six-axis force sensor under different temperature conditions.On this basis,the error sources of the calibration system were studied and the main error values of the system were calculated.The results show that typeⅡerror is the main factor affecting the accuracy of the calibration system compared with typeⅠerror.The overall error of the new calibration system is less than 2.10%,which can meet the requirements of use.