六维力传感器静态标定及解耦研究  

Research on static calibration and decoupling for six-axis force sensor

作　　者：刘砚涛[1] 郭冰[1] 尹伟[1] 吴兵[1] 

机构地区：[1]北京强度环境研究所,北京100076

出　　处：《强度与环境》2013年第1期44-49,共6页Structure & Environment Engineering

摘　　要：设计了一种八梁结构轮辐式六维力传感器的静态标定试验台,并从传感器的静态耦合特性和解耦算法两方面进行了研究。给出了详细的标定过程,获取了试验数据样本。基于试验样本构造了标定矩阵。结果表明:该传感器在结构上具有良好的自解耦特性,通过解耦算法对传感器输出进行解耦后,传感器的耦合误差基本被消除,满程测量精度能达到2.6%,为该种六维力传感器的实用及其产业化奠定了基础。The static calibration device of six-axis force sensor with eight beams was provided. Both static decoupling property and decoupling algorithm have been addressed. The calibration procedure and extraction of sample data were presented in detail. The calibration matrix was established based on the sample data. From the analysis of the results, it reveals that the six-axis force sensor is characterized by good self-decoupling property and the interference errors are less than 2.6% F.S., which can provide significant base for the development and industrialization of the sensor.

关 键 词：六维力传感器 静态标定 耦合 静态解耦 标定矩阵 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]