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

doi:10.3901/JME.2017.23.053

Abstract

Abstract: 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.

Key words: four dimensional force measuring platform, mechanical decoupling, overloaded parallel, self-calibration

CLC Number:

TH112

ZHAO Yanzhi, ZHAO Tieshi, CAO Hucheng, JIAO Leihao, ZHANG Xiaohui, CHEN Guanyu. Measuring Principle and Calibration Experiment of the Overloaded Self-calibration Parallel Four-dimensional Force Measuring Platform[J]. Journal of Mechanical Engineering, 2017, 53(23): 53-61.

References

[1] 钟晓玲,张晓霞. 面向机器人的多维力/力矩传感器综述[J]. 传感器与微系统, 2015, 34(5):1-4. ZHONG Xiaoling, ZHANG Xiaoxia. Review of multidimensions force/torque sensor for robots[J]. Transducer and Microsystem Technologies, 2015, 34(5):1-4.
[2] GAILLET A, REBOULET C. An isostatic six component force and torque sensor[C]//Proc. 13th Int. Symp. Ind. Robots, 1983:25-28.
[3] KANG C. Closed-form force sensing of a 6-six force transducer based on the Stewart platform[J]. Sensors and Actuators A:Physical, 2001, 90:31-37.
[4] ZHAO Yanzhi, JIAO Leihao, WENG Dacheng, et al. Decoupling principle analysis and development of a parallel three-dimensional force sensor[J]. Sensors, 2016, 16:1-19.
[5] 贾振元,李映君,张军,等. 并联式轴用压电六维力/力矩传感器[J]. 机械工程学报, 2010, 46(11):62-68. JIA Zhenyuan, LI Yingjun, ZHANG Jun, et al. Axial piezoelectric 6-component force/torque sensor based on parallel structure[J]. Journal of Mechanical Engineering, 2010, 46(11):62-68.
[6] 赵延治,牛智,焦雷浩,等. 新型过约束正交并联六维力传感器测量模型与静态标定试验[J]. 机械工程学报, 2016, 52(18):16-23. ZHAO Yanzhi, NIU Zhi, JIAO Leihao, et al. Measurement model and calibration experiment of new over-constrained and orthogonal parallel six-dimensional force sensor[J]. Journal of Mechanical Engineering, 2016, 52(18):16-23.
[7] 王志军,姚建涛,吴遥,等. 双层预紧式六维力传感器及其静态标定[J]. 机械工程学报, 2013, 49(3):24-30. WANG Zhijun, YAO Jiantao, WU Yao, et al. Dual layers pre-stressed six-axis force sensor and its static calibration[J]. Journal of Mechanical Engineering, 2013, 49(3):24-30.
[8] ZHAO Yanzhi, ZHANG Caifeng, ZHANG Dan, et al. Mathematical model and calibration mxperiment of a large measurement range flexible joints 6-UPUR six-axis force sensor[J]. Sensors, 2016, 16(8):1-20.
[9] 戈瑜,吴仲城,葛运建. 面向应用需求的力/力矩传感器技术发展动向[J]. 机器人, 2003, 25(2):188-192. GE Yu, WU Zhongcheng, GE Yunjian. State of arts and development trends toward application oriented force/torque sensors[J]. Robot, 2003, 25(2):188-192.
[10] LIU W, LI Q, JIA Z.Y, et al. Design and experiment of a parallel six-axis heavy force sensor based on stewart structure[J]. Sens. Trans., 2013, 151:54-62.
[11] 梁建宏,栾玉宝,王田苗,等. 基于一维传感器的四维力测试平台设计与分析[J]. 北京航空航天大学学报, 2013, 39(8):1011-1015. LIANG Jianhong, LUAN Yubao, WANG Tianmiao, et al. Design and analysis of four-dimensional forcemeasurement based on one-dimensional sensors[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(8):1011-1015.
[12] 钱敏,孙宝元,张军. 整体式三维压电测力平台的研制[J]. 大连理工大学学报, 2000, 40(5):570-572. QIAN Min, SUN Baoyuan, ZHANG Jun. Investigation and manufacture of unitary 3D piezoelectric forcemeasuring platform[J]. Journal of Dalian University of Technology, 2010, 40(5):570-572.
[13] 刘仁强,葛巧德,高峰,等. 一种新型基于光纤柔性铰链的六维微位姿并联测量平台,新型工业化, 2013, 3(4):22-29. LIU Renqiang, GE Qiaode, GAO Feng, et al. A new parallel mechanism for 6-DOF micro displacement and orientation measurement based on optical fiber flexure hinges[J]. New industrialization, 2013, 3(4):22-29.
[14] 宫海彬,苏建,徐观,等. 多传感器并联式三维测力平台及标定[J]. 吉林大学学报, 2013, 43(6), 1517-1522. GONG Haibin, SU Jian, XU Guan, et al. Design and calibration of multi-sensor parallel 3D force measurement platform[J]. Journal of Jilin University, 2013, 43(6), 1517-1522.
[15] 唐毅, 葛运建, 孙怡宁, 等. 五维力测力平台的研制. 仪器与仪表, 2001, 5:17-18. TANG Yi, GE Yunjian, SUN Yining, et al. Study and design of five dimensional force/torque measuring table[J]. Instrument Technique and Sensor, 2001, 5:17-18.
[16] 赵延治,焦雷浩,牛智,等. 机械解耦自标定并联六维力传感器设计及仿真[J]. 中国机械工程, 2017, 28(7):771-778. ZHAO Yanzhi, JIAO Leihao, NIU Zhi, et al. Design and simulation analysis of mechanical decoupling selfcalibration parallel six dimensional force sensor[J]. China Mechanical Engineering, 2017, 28(7):771-778.
[17] 王宪平. 理论力学[M]. 6版. 北京:高等教育出版社, 2002. WANG Xianping. Theoretical mechanics[M]. 6th ed. Beijing:Higher Education Press, 2002.
[18] 黄真,赵永生,赵铁石. 高等空间机构学[M]. 2版. 北京:高等教育出版社, 2006. HUANG Zhen, ZHAO Yongsheng, ZHAO Tieshi. Advanced spatial mechanism[M]. 2nd ed. Beijing:Higher Education Press, 2006.