Study On Signal Denoising And Static Decoupling For Large Range 6-Axis Force/Torque Sensor

In the applications of the aircraft landing gear momentum test,the rocket thrust test, spacecraft docking, wind tunnel tests, the large range and high accuracy 6-axis force/torque sensors are much-needed and have a wide range of applications. In this paper, a new large range of flexible hinge parallel 6-axis force/torque sensor is resarched by subject group as research object ,it studies signal denoising and nonlinear static decoupling of 6-axis force/torque sensor. The main research contents are as follows:First of all, in the experimental platform, the paper completes satic calibration tests of a large range of flexible hinge parallel 6-axis force/torque sensor, and obtains calibration sample datas which are required by signal denoising and static decoupling.Secondly, it studies various denoising methods which are suitable for 6-axis force/torque sensor signal; Based on wavelet threshold denoising theory, it analysises and determines the parameters which are required by wavelet threshold denoising. It proposes a mixed threshold denoising method.Using various methods to make simulation experiment of 6-axis force/torque sensor's signal, researches have good results.Again, to overcome shortage of linear static decoupling, it proposes three nonlinear static decoupling methods based on artificial neural networks and genetic algorithms: HHDTGA-BP network algorithm, HHDTGA-RBF network algorithm and HHDTGA-Wavelet network algorithm.it establishes the neural network models which optimize the structure and parameters at the same time, and the model are applied to static decoupling of 6-axis force/torque sensor.Calibration sample datas are used to make simulation experiment,and the results prove research value of various methods. Finally, based on staric calibration experiment's hardware structure of 6-axis force/torque sensor; it applies LabVIEW development environment and MATLAB language to complie mixed-language program. Static calibration's software system of 6-axis force/torque sensor is perfected, and it gives and analysises main design interface of static calibration , and compares experimental results and simulation results.The experiment result proves that wavelet threshold denoising and nonlinear static decoupling methods which are proposed improve measurement accuracy of 6-axis force/torque sensor to some extent. The study provides reference basis for static calibration program's improvement of 6-axis force/torque sensor. It has laid a theoretical foundation for research and development of a large range multi-dimensional force/torque sensor.