Research On A Novel Multi-dof Force/torque Sensor And Its Calibration Method

It has been widely utilized that multi-DOF force/torque in industrial application. However, most of their frame size is relatively large, and not suitable for some situations where the size of a force/torque sensor is constrained, mounted on the manipulation end. The paper, combined a program named Sensing and Control of Multi-dimensional Fingertip Force to Humanoid Multi-fingered Hand(No. 51175106) that supported by the National Natural Science Fund, designed a sense part with fair manufacturability for a 6-axes force/torque sensor, designed and worked out the sensor’s strain detection circuit with 6 channels, based on Time-to-Digital-Conversion(TDC) technology. The thesis also applied Least Square Method and LS-SVR method to decouple the sensor, then analyzed their decoupling results by comparison and drew a conclusion that when there are errors in experimental data, the result by LS-SVR method is better than that by Least Square Method.Global research on multi-DOF force/torque sensor was analyzed, manufacturability principle and least coupling principle when design a sense part was stated. Strain detection method was researched and two decoupling methods for a sensor was introduced, and main research contents in this paper was deduced.Application background of 6-DOF force/torque sensor and the similarity of a hand and a humanoid artificial hand were analyzed, design requirements was derived; a 6-axes sensor’s sensitive part was designed. A strain gauging circuit based on TDC was designed and made it into realization.According to the sense part’s structure, a linear model of the sense part was built, then LS method was applied to decouple the linear model. A nonlinear system was also modeled by LS-SVR. Its factors, γ and σ, was optimized by grid method. Their advantages and disadvantage in practical utility were compared.A test platform was built to test the sensor, its experiment data were obtained from the platform, LS and LS-SVR were applied to decouple, and its results were compared and analyzed, and advice to improve was presented.