Calibration Thory And Technology Of The Parallel 6-Axis F/T Sensors

The main object of research in this thesis is the novel dexterous hand's 6-axis force transducer based on the mechanism of the Stewart with equal platform, which adopts the elastic joints instead of the real spherical joints, and makes the structure of it small as possible and realize one of the force sensitivity elements, which therefore improves the sensitivity and rigidity of the sensor.Though this sensor has its character, there isn't systemic theory and method how to identify the structure parameter, in view of the convenient farther research, the calibration rule of this transducer is offered, and the structure parameter identification method of the parallel 6-axis force/torque is presented. This thesis in detail deduces its static mathematics model, and the relation between the five structural parameter of Stewart structure and the six reference frame parameter, and then, deduce the formula of the sensor static parameter identification.Moreover, this thesis researches the error of the sensor when it is calibrated, and analyzed the reason of the error, this thesis advised the corresponding resolve method.