超静定六维力传感器静定测量模型及标定方法  

Statically determinate measurement model and calibration method of statically indeterminate six-axis force sensor

作　　者：姚建涛[1,2] 李立建[1,2] 许允斗[1,2] 赵永生[1,2] 

机构地区：[1]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004 [2]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004

出　　处：《仪器仪表学报》2013年第9期1927-1933,共7页Chinese Journal of Scientific Instrument

基　　金：国家973计划(2013CB733000);国家自然科学基金(51305383;51275439);河北省自然科学基金(2011203184)资助项目

摘　　要：针对一种预紧式超静定Stewart结构六维力传感器,通过综合考虑传感器的整体刚度和分支杆变形的位移协调关系,以简洁的解析表达式推导得到了包含中间预紧分支作用的广义外力与6个测量分支轴向力之间的全映射关系,建立了超静定六维力传感器的静定测量模型,并提出一种超静定六维力传感器的静定标定方法,进行了标定实验及测试研究。研究内容为解决超静定并联式结构的六维力传感器受力分析提供了新的途径,同时为超静定结构六维力传感器的标定研究奠定了理论和实验基础。This paper aims at a pre-stressed statically indeterminate six-axis force sensor based on Stewart structure. Through considering comprehensively the sensor global stiffness and displacement coordination correlativity of limb deformation, a full mapping relationship between the generalized force and six measuring limb axial forces including the effect of the intermediate pre-stressed limb is derived with concise analytical expression. Meanwhile, the statically determinate measurement model of the statically indeterminate six-axis force sensor is built. Furthermore, a statically determinate calibration method is put forward for the statically indeterminate six-axis force sensor. The calibration ex- periment and test research was carried out. The research contents provide a new way for solving the force analysis of the statically indeterminate parallel structure six-axis force sensor;at the same time,lay a theoretical and experimental foundation for the statically indeterminate six-axis force sensor calibration study.

关 键 词：六维力传感器 预紧式超静定 静定测量模型 静定标定 误差评价 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TM930.1[自动化与计算机技术—控制科学与工程]