Static Calibration Of Parallel Six-axis Force Sensor Based On High-order Curve

With the rapid development of sensor technology,the outstanding performance of six-dimensional force/torque sensor has been continuously developed,so it has been widely applied in many fields.Sensor technology has developed into the most important and most widely used sensing element and is one of the core high-tech.IIn this paper,the mechanism theory,static calibration algorithm,static calibration test and the relationship between calibration time and sensor measurement accuracy of the six-dimensional force sensor are analyzed and studied.The specific contents are as follows:Based on the mathematical model of 6-SPS parallel structure in the generalized form,the theoretical derivation of its structure is carried out,and the influence of the first-order static coefficient relation matrix on the establishment of the mathematical model is verified by the static equilibrium equation.Based on the helix theory,the structural analysis and static analysis of the orthogonal parallel six-dimensional force sensor are carried out to determine the rationality and superiority of the prototype structure.Due to the actual input space under the condition of external forces and six dimensional force sensor output are not ideal linear relationship,this paper puts forward the static calibration algorithm based on high order curve of new orthogonal parallel 6 d force sensor,the static calibration of discrete data points will be more load to the fitted curve,improving the measuring accuracy of six dimensional force sensor,the algorithm can be applied to all kinds of structure of six dimensional force sensor static calibration.According to the algorithm and the existing experiment conditions were determined,the test method for the design and build test environment: this test will be a new orthogonal parallel carry to ABB mechanical hand,six force sensor by Jordan farmar and posture of the manipulator transform space force load,using visual programming software Lab VIEW real-time load test data of prototype and import the stored in Excel,writing high static calibration curve fitting algorithm in Matlab,and import the Excel data to calculate.Through data analysis and comparison,the correctness of the algorithm is verified and the measurement accuracy of the sensor is improved.Because,the ill-conditioned matrix will appear when the number of fitting is too high.In this paper,the calibration algorithm and software for data processing time and the mapping relationship between sensor calibration precision is put forward a kind of idea,in the process of static calibration of test prototype is summarized on the basis of because of the high order curve fitting fitting times and data processing time and 6 d force sensor calibration accuracy between the relations of mutual influence.Figure58;Table5;Reference 75...