基于结构正交性的六维力传感器高效标定策略与解耦性能验证OA

Six-axis force sensors used in robotic force control often suffer from significant inter-dimensional cou-pling,complex calibration procedures,and low calibration efficiency in mass production.Taking the orthogonal cross structure six axis force sensor as the research object,the coupling sources between the three beam struc-ture and the orthogonal cross structure are analyzed.Combining the geometric orthogonality and Wheatstone bridge cancellation mechanism,an efficient calibration strategy of"independent spindle calibration+multi-di-mensional composite calibration"is proposed.For a developed six-axis force/torque sensor for Fx、Fy、Fz with 200 N,Mx、My、Mz with 5 N·m,principal-axis loading,raw coupling,linear decoupling,and spatial composite-load experiments are conducted.The results show that the maximum single raw type-Ⅱ coupling error before software decoupling is 2.96％F.S.After least-squares linear decoupling,the maximum single type-Ⅱ coupling error is reduced to 0.49％F.S.,and the maximum total coupling error is 0.996％F.S.In addition,the repro-duction errors of all dimensions are controlled within±1％F.S.at 30 discrete spatial posture test points under composite loading.The results verify that the orthogonal cross structure combined with the independent princi-pal-axis calibration strategy is effective in maintaining measurement accuracy while simplifying the calibration procedure.