Theory And Experiment Of Static Calibrationon On The Six Dimensional Force Sensor With The Stewart Platform

At home and abroad the theory and experimental research about 6-DOF force/torque sensor are deeply analyzed and synthesized. Based on these, the system of the pre-strained 6-DOF force/torque sensor is designed, and the pre-strained 6-DOF force/torque sensor is further studied and analyzed. At the same time, the static calibration experiment and analysis for the pre-strained six-dimension force sensor on the Steward platform are given.The static performance indices of the sensor rest with its static mathematics model. Therefore, in view of the convenient farther research, the thesis in detail deduces the Jacobian matrix of the 6-DOF force/torque sensor on the Steward platform, while the coordinate system is on the upper platform. It also studies the isotropy indices and generalized amplifying coefficients of the sensor.The prototype of the Steward platform with six-axis force sensor and load platform is improved. The calibration system of the pre-strained 6-DOF force/torque sensor is designed: measuring circuit of resistance strain is designed. The data-collection system is developed for the sensor. The data-collection software is programmed via VB, VC and assembly language.Base on these, the calibration rule of the Steward platform with 6-DOF force/torque sensor is offered. By the static calibration experiment and analysising and validating the results, the static calibration matrix is acquired. By analysising the calibration error matrix, accuracy of the pre-strained six-dimension force sensor on the Steward platform is acquired. At the same time , the reasons of errors are also analyzed.The research work of this thesis is very useful for the deep research of 6-DOF force/torque sensor. It is of great significant with the theoretical and practical values.