WRIST FORCE SENSOR'S DYNAMIC PERFORMANCE CALIBRATION BASED ON NEGATIVE STEP RESPONSE

Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.

Multi-dimensional force sensor for haptic interaction:a review

Haptic interaction plays an important role in the virtual reality technology,which let a person not only view the 3D virtual environment but also realistically touch the virtual environment.As a key part of haptic interaction,force feedback has become an essential function for the haptic interaction.Therefore,multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality.In this paper,some conventional multi-dimensional force sensors based on different measurement principles,such as resistive,capacitive,piezoelectric,are briefly introduced.Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed.It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body.Furthermore,the calibration process of the force sensor is analyzed,and problems in calibration are discussed.Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors.Therefore,reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors,and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper.At last,the trends and current challenges of multi-dimensional force sensing technology are proposed.

Design and performance analysis of indoor calibration device for the forcemeasuring system of the tractor three-point hitch

The real-time monitoring of the load in farming by the sensor installed on the tractor's three-point hitch can effectively improve the farming efficiency and force-position combined control,reduce the compaction risk of the wheel on the soil and reduce the fuel consumption in farming process.However,the measurement and quantification of the loads on the three-point hitch have some problems remaining unresolved:testing the accuracy and reliability of a load measuring system is hard when the tractor works in a field,the mathematical model of spatial forces usually lacks a practical and effective validation,and the calibration process of the measurement system is inconvenient and incomplete while easily causing a low accuracy.Specifically,this paper builds a new spatial-force mathematical model based on the geometry of a three-point hitch.To eliminate the discrepancy of the geometric model with the actual structure and to refine the mathematical model,a calibration process is conducted by developing a calibration bench,which is equipped with a data acquisition system and a multi-parameter monitoring interface.The three-point hitch installed on this calibration bench is subject to steady-state loading.The loading force,angle of the lower drawbar,and three-component forces(three shaft pin sensors’forces)of the three-point hitch are well measured.With applying for the measured data to calibrate the theoretical mathematic model eventually derives the resultant force from all the three-component forces,a dynamical loading bench was developed to test the calculated resultant force for the three-point hitch during the sinusoidal and randomly variant dynamical loadings tests.A hitch force measurement system is also developed to collect real-time data and calculate the resultant force of measured three-component forces through the calibrated mathematical model.The results of the dynamical loading tests show that the average relative error MRE=1.09%with an average force measurement time delay beingΔt=0.5 s,the root mean square error RMSE=59.3 N,and the coefficient of determination R2=0.9903.As observed,the shape and the trend of the generated resultant force curve are basically the dynamical loading force.The dynamical loading test proves the high efficacy and reliability of the proposed indoor calibration method for calculating the load based on the three-component forces as measured on the three-point hitch.Besides,the preliminary study of the proposed method on the hitch load provides great potential to improve the indoor six-component measurement and quantification of both the force and momentum acting on the three-point hitch.

A calibration method for optical trap force by use of electrokinetic phenomena

An experimental method for calibration of optical trap force upon cells by use of electrokinetic phenomena is demonstrated. An electronkinetic sample chamber system （ESCS） is designed instead of a common sample chamber and a costly automatism stage, thus the experimental setup is simpler and cheaper. Experiments indicate that the range of the trap force measured by this method is piconewton and sub-piconewton, which makes it fit for study on non-damage interaction between light and biological particles with optical tweezers especially. Since this method is relevant to particle electric charge, by applying an alternating electric field, the new method may overcome the problem of correcting drag force and allow us to measure simultaneously optical trap stiffness and particle electric charge.

Estimation of the J-resistance curve for Cr2Ni2MoV steel using the modified load separation parameter S_(pb) method

Based on load separation theory, the load separation parameter Spb method is an effective approach for estimating the J-resistance curve from records of load versus displacement directly, using one sharp cracked specimen and an additional reference blunt cracked specimen. However, the effect of the reference blunt cracked specimen on J-resistance determination was not explicitly considered in past work. In this paper, a modified load separation parameter Spb method was developed to eliminate this effect, and then a unique estimation of instantaneous crack length for one sharp cracked specimen could be obtained. Furthermore, a forced blunting calibration method was also adopted to determine the instantaneous crack length in the load inseparable region, referring to a normalization method. Experiments on steam turbine rotator steel Cr2Ni2MoV were carried out to estimate J-resistance curves using an unloading compliance method. By removing unload and reload data from load-displacement records, the J-resistance curve for the same sharp cracked specimen was estimated using the modified separation parameter Spb method. The results indicate that the modified Spb method completely eliminates the effect of the reference blunt cracked specimen on the instantaneous crack length determination of the sharp cracked specimen. However, different J-resistance curves in a small range of crack extension are present when different blunting coefficients are used in the blunting line equation. The J-resistance curve obtained from the modified Spb method agrees well with that obtained from the compliance method.