Calibration Testing And Application Research Of Pre-stressing Fault-tolerant Six-axis Force Sensor

The six-axis force sensor system may breakdown due to the effects of the workenvironment or other malfunction when measurement tasks are performed, causingmeasure performance degradation even paralysis to the system, resulting in heavy losses.Therefore, the sensor design process should take the needs of reliability into account,which has a better fault tolerance measurement capability. The study has importantpractical application value in ensuring reliable operation of the sensor system during themission. In this paper, the research work on pre-stressing fault-tolerant sensor is carriedout as follows:Firstly, the hardware of the pre-stressing fault-tolerant six-axis force sensor is built,and the working principle and data acquisition processing procedure of the force sensorsystem is described. The data acquisition processing program of sensor is improved andthe effect of its data acquisition system is also increased.Then, this paper analyzes and compares the different calibration and data processingmethod of the six-axis force sensor. And the measurement precision and accuracy of thesix-axis force sensor is proposed. The measurement interval calibration of the six-axisforce sensor for a specific task is carried out, and the measurement error is reduced. Thestatic measurement performance of the six-axis force sensor is analyzed by obtaining thestatic calibration data. Besides, the pre-stressing fault-tolerant six-axis force sensorcorresponding calibration method when signal failure occurs is proposed, which providesa basis for the fault diagnosis and its following work of the sensor.Next, the different fault detection and fault branch judgment methods of six-axisforce sensor are established by researching the common faults and its outputcharacteristics. According to the analysis and comparison of sensor normal working dataand simulating fault data, the corresponding judgment criteria is determined, whichrealizes the judgments on working state and fault branch of six-axis force sensor. Theprogram for fault-tolerant measurement of sensor is completed and the relevant tests andmeasurement work are developed. The improved program of sensor fault-measurement is compiled by using the Lab VIEW software. The program of fault detection and judgment,the reconfiguration of measurement model are completed and realized respectively.Finally, the pre-stressing fault-tolerant six-axis force sensor is applied to thecompliant assembly task, and the relevant experiment research is carried out by theplatform containing a6-UPS parallel robot and six-axis force sensor. The correspondingfault-measurement program is added to the program of robot control system. The faultdetection and judgment of the system can be easily completed when the simulated faultoccurs, the assembly task executes continuously after the measurement model isreconfigured.