The System Modeling And Error Analysis Of A New Sensor Calibration Station Of Six-dimensional Force

Six axis force sensors are widely used in robot,automotive, aerospace, mechanical proces sing and other fields, the development of the six-axis force sensor is seriously restricted by the technology of sensor calibration. At present, the existing six-axis force sensor calibration tabl e has lots of weaknesssuch as the accuracy of calibration force and torque is not enough, com plex operation, calibration range is small,unable achieve automatic control, unable achieve the single axis force / torque loading. The industrial development urgently needs to develop a six-dimensional force sensor calibration platform with large calibration range, high precision, si mple operation and continuously and automatically load.This paper designs a calibration platform of parallel mechanism based on the GF theory,and expounds the loading method of the six-axis force.The four column straddle calibration ta ble and fixture sensor are designed based on the parallel mechanism.The system model of cali bration table is established by the software,and analyze the key parts using finite element, in o rder to verify the design meeting the requirements.The equation of inverse solution derived ba sed on the parallel mechanism,gives the mathematical relationship of the position of the movi ng platform and the displacement vector of electric cylinder.Calculation of Jacobin matrix, pr ovides a mathematical formula for the conversion of standard concentration and electric cylin der component. Through the Jacobian matrix,analyze the singularity of parallel mechanism, t hrough the SIMULINK,calculate the work-space of the the calibration mechanism to determin e the basic performance mechanism.Based on the theory,analyze the error composition of the calibration platform, The moving platform pose error for the media, analysis of the relationship between all kinds of error and the error of moving platform, including electric cylinder length error, spherical joint clearance error, fixture locating error, system error. According to the calculation and analysis of the moving platform pose error, get the standard error of force / torque calculation formula, in order to determine the relationship of all kinds of error and calibration error. The results of error analysis provides a new method for calibration of error calculation, put forward the corresponding proposal and theoretical basis for reducing and avoiding the error. Finally, the paper verify the correctness of the theory and the theory of error analysis by the joint simulation of ADAMS and MATLAB, and designs a feedback control module which can compensate the errors.