Resesrch On The Static And Dynamic Calibration Virtual Instrument System For A Parallel Piezoelectric Six-axis Force Sensor

Six-axis force sensor is an important sensor that can simultaneously detectthree-dimensional force and three-dimensional torque information in space. With thecontinuous development of sensing technology, six-axis force sensor has been widelyused in areas such as industrial production and national defense technology. Six-axisforce sensor must be calibrated before using. With the higher requirements of dataacquisition and signal processing for the calibration of sensor, it can improve theefficiency and accuracy of the calibration, and can achieve automated calibration of thesensor by researching static and dynamic calibration system based on virtual instrument.This article analyzes the static and dynamic calibration methods of a parallelpiezoelectric six-axis force sensor. Calibration software based on virtual instruemt isdesigned and can acquire and process experimental data. The static and dynamincperformance of the six-axis force sensor can be obtained by the calibration software.The major research works in this article include:①This paper introduces a new structure piezoelectric six-axis force sensor andanalyzes the measurement principle of the sensor.②The static and dynamic calibration methods of the six-axis force sensor isstudied. The sensor is loaded with six-axis linearly independent force for staticcalibration. The least squares method is used to calculate the calibration matrix andother static performance indexes of the sensor. Step response method is used for thedynamic calibration of the sensor. Dynamic differential equation mathematical modelcan be got by system identification and can be used to calculate the dynamicperformance indexes of the sensor.③In the virtual instrument, LabVIEW and MATLAB programming language areboth used. Static and dynamic calibration software based on virtual instrument isdesigned to acquire experimental data and analyze signal. Static and dynamicperformance indexes can be calculated by calibration software.④The experimental platform of the piezoelectric six-axis force sensor is set up.The function of calibration software is tested and the results achieve desired purposes.Finally, the errors of the calibration system are analyzedIn this paper, calibration software is designed based on virtual instrument that canbe used for the static and dynamic calibration of the piezoelectric six-axis force sensor. The software has practical function and low cost, and can calibrate various types ofsix-axis sensors after modification.