Stewart型六维力传感器的标定方法研究  

Research on Calibration Method of Stewart Six-Component Force Sensor

作　　者：张韬 杨德华[1] 肖心怡 吴常铖[1] ZHANG Tao;YANG Dehua;XIAO Xinyi;WU Changcheng(College of Automation,Nanjing University of Aeronautics&Astronautics,Nanjing Jiangsu 210016,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《传感技术学报》2020年第9期1274-1278,共5页Chinese Journal of Sensors and Actuators

基　　金：南京航空航天大学研究生创新基地(实验室)开放基金项目(kfjj20190308);中央高校基本科研业务费专项资金项目。

摘　　要：I、II类误差是影响Stewart型六维力传感器测量精度的主要因素,对Stewart型六维力传感器的测力原理和误差引入原因做了简要的介绍。为提高传感器的实际测量精度,减小测量误差,提出了一种基于标定杆的标定方案。通过理论分析验证了该方案的可行性并通过有限元仿真软件ANSYS完成了Stewart型六维力传感器的静态标定仿真实验。标定前后传感器测量精度的对比证明该方案可有效提高传感器的实际测量精度,降低I、II类误差。Type I and II errors are the main factors affecting the measurement accuracy of the Stewart-Type Six-Component force sensor.The measurement principle of the Stewart-type six-component force sensor and the reason for error introduction are briefly introduced in the article.To improve the actual measurement accuracy of the sensor and reduce the measurement error,a calibration scheme based on the calibration rod was proposed.The feasibility of the scheme was verified through theoretical analysis and the static calibration experiment of the sensor was completed by the finite element simulation software ANSYS.The comparison of sensor measurement accuracy before and after calibration proves that the scheme can effectively improve the actual measurement accuracy of the sensor and reduce the type I and II error.

关 键 词：STEWART 六维力传感器 静态标定 仿真 ANSYS 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]