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一、概述六维力传感器是机器人最重要的力觉传感器。受制造原理和加工工艺以及应变片贴片准确度等因素的影响,六维力传感器存在着较大的维间干扰即耦合误差。针对目前六维力传感器标定中存在的加载准确度不高、测量误差大、标定系统集成度不足等问题,笔者实验室设计了一种一次装夹下完成对六维力传感器各特征方向进行双向标定的标定系统,并运用虚拟仪器技术开发了能够显示、分析、保存动态数据曲线的分析软件。
First, an overview Six-dimensional force sensor is the robot’s most important force sensor. Due to the manufacturing principle and processing technology as well as the accuracy of the strain gauge chip and other factors, the six-dimensional force sensor has a large inter-dimensional interference or coupling error. In order to solve the problems of low load accuracy, large measurement error and lack of integration of calibration system in the current calibration of six-dimensional force sensor, the laboratory designed a two-way Calibration calibration system, and the use of virtual instrument technology developed to display, analyze, save the dynamic data curve analysis software.