摘要
本文研究了一种Stewart型机器人六维力传感器的静态解耦实验问题,为该种六维力传感器的实用及其产业化奠定基础,并且介绍了传感器测试原理、标定装置,进行静态标定与解耦实验。实验结果分析表明,该六维力传感器解耦性良好,满程测量精度能达到2%。
The problem of the static calibration and decoupling experiment of a 6-axis force transducer with Stewart platform structure has been addressed, which can provide significant base for the development and industrialization of the transducer. The transducer working technique and the calibration device are presented and the experiment is accomplished. From the analysis of the results obtained by us, it reveals that the 6-axis force transducer is characterized by good decoupling property and the interference errors are less than 2% F. S..
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2006年第12期1715-1717,共3页
Chinese Journal of Scientific Instrument
基金
博士后科学基金(2005037034)资助项目
