自标定重载并联四维测力台测量机理与标定试验  

Measuring Principle and Calibration Experiment of the Overloaded Self-calibration Parallel Four-dimensional Force Measuring Platform

作　　者：赵延治[1,2] 赵铁石[1,2] 曹虎成[3] 焦雷浩 张晓辉[1,2] 陈冠宇 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]先进锻压成形技术与科学教育部重点实验室(燕山大学),秦皇岛066004 [3]中国飞行试验研究院,西安710089

出　　处：《机械工程学报》2017年第23期53-61,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51105322);河北省自然科学基金(E2014203176);河北省高等学校科学技术研究青年基金(QN2015040);中国博士后科学基金(2016M590212)资助项目

摘　　要：面向航空航天领域对重载大测力面积多维测力台研发的迫切需要,为克服现有多维力传感器研制后均需繁冗的加载标定,采用提出的多维力传感器"自标定"设计理念,通过构建机械解耦测力分支并辅以并联正交分布结构,提出一种新型弱耦合自标定重载并联正交四维测力台构型。基于滚动摩阻理论分析与论证其解耦测量机理与自标定原理。在此基础上,设计并研制了该自标定重载并联四维测力台及其标定加载系统,标定试验结果表明,该四维测力台最大测量误差为0.62%,最大耦合误差为0.56%,论证了其解耦及自标定特性,从而为该自标定重载并联四维测力台的实际应用奠定基础,也为研制大量程重载并联多维力传感器提供了新思路。Facing the urgent need for research of the overloaded multi-dimensional force measuring platform with large measuring force area, and to avoiding the heavy loading calibration after the development of multi-dimensional force sensor, a novel weak coupling self-calibration overloaded orthogonal parallel four dimensional force measuring platform is proposed based on the proposed self-calibration concept of the multi-dimensional force sensor. The mechanical decoupling force measuring branch with orthorhombic structure is developed. The decoupling measurement principle and self-calibration principle are analyzed and verified based on the rolling friction theory. The self-calibration parallel four dimensional force measuring platform and calibration loading system are designed and developed. The calibration experimental results show that the maximum measurement error of the force measuring platform is 0.62%, and the maximum coupling error is 0.56%, which prove the decoupling and self-calibration characteristic. The study lay the foundation of the practical application of the self-calibration parallel four dimensional force measuring platform, and provide a new way for the development of the large range overloaded parallel multi-dimensional force sensor.

关 键 词：四维测力台 重载并联 机械解耦 自标定 

分 类 号：TH112[机械工程—机械设计及理论]