Reserch On Static Calibration Of 6-Upur Parallel 6-Axis Force/Torque Platform

6-axis force/torque platform which has large range and high accuracy has extensive application prospects in aviation,wind tunnel experiments,industrial engineerings and some other fields. Parallel force/torque platform is characterized by high rigidity , large load-carrying capacity,good structural stability,not-accumulative error. Based on these advantages our team has designed a wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints. This paper researches the static performance calibration of 6-axis force/torque platform which is 6-UPUR parallel structure. The main research contents are as follows:(1)Linear and nonlinear calibration methods of 6-UPUR parallel structural 6-axis force/torque platform are researched. The linear calibration methods include K value calibration method and least-squares calibration method. Relevant formulas are deduced. The non-linear calibration methods include BP neural network method and RBF neural network method. The relevant proper network parameters of the 6-UPUR parallel structural 6-axis force/torque platform are chosen.(2)Based on the research of above calibration methods and LBVIEW,the static performance calibration's software system which suits wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints is developed,concrete steps of static performance calibration experiment of 6-axis force/torque platform is given , and does the static performance calibration experiment.(3) Based on experimental datas,calibration matrixes of linear calibration methods and error matrixes of each calibration methods are calculated,and analyzes linearities of each branches's measured voltages of the 6-UPUR parallel 6-axis force /torque platform. In addition,the paper analyzes coupling between different dimensions.(4)Various of factors which affects the measurement error of 6-UPUR parallel structural 6-axis forc/torque platform are researched,relevant measures for improvement are given.The static performance calibration system of wide range 6-UPUR parallel 6-axis force/torque platform with flexibel joints has a certain reference to the other types of platform's calibration. The calibration result of the static performance is significant to the 6-UPUR parallel 6-axis force/torque platform's performance evaluation. Analysising to the factors about 6-UPUR parallel 6-axis force/torque platform's error has guiding significance to the improvment of the 6-axis force/torque platform.