Fault-tolerant Measurement Mechanism and Calibration Experimental Study of Pre-stressed Parallel Six-axis Force Sensor

doi:10.3901/JME.2016.08.058

Abstract

Abstract: For a pre-stressed six-axis force sensor, the theoretical analysis and experimental study of fault-tolerant measurement mechanism are carried out. The fault-tolerance characteristic of pre-stressed parallel six-axis force sensor is introduced, with the screw theory and deformation coordination, the mathematic models including fault-free mathematic model and signal fault mathematic model are established, respectively. Moreover, the fault-tolerant measurement principle is revealed. The static calibration algorithm of the pre-stressed parallel six axis force sensor is analyzed, a fault-tolerant calibration method is proposed and the static calibration includes unidirection loading, bidirectional combined loading and sectional loading of the sensor is carried out including the models with and without signal fault. Through analyzing the experimental data, the linear error of the sensor is drawn under different working conditions. The research lays a theoretical and experimental foundation for the application of the fault-tolerant six-axis force sensor．

Key words: calibration experiment, fault-tolerant, parallel, pre-stressed, six-axis force sensor

CLC Number:

TH751

YAO Jiantao, CUI Pengxiao, ZHU Jialong, XU Yundou, ZHAO Yongsheng. Fault-tolerant Measurement Mechanism and Calibration Experimental Study of Pre-stressed Parallel Six-axis Force Sensor[J]. Journal of Mechanical Engineering, 2016, 52(8): 58-66.

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