Design and calibration experiment of six-dimensional force sensor for heavy-duty manipulator

Xiuyu Li; Yanzhao Yin; Quan Sun; Qiang Zhang; Qi Jiang

doi:10.1117/12.2611317

14 October 2021 Design and calibration experiment of six-dimensional force sensor for heavy-duty manipulator

Xiuyu Li, Yanzhao Yin, Quan Sun, Qiang Zhang, Qi Jiang

Proceedings Volume 11930, International Conference on Mechanical Engineering, Measurement Control, and Instrumentation; 119301O (2021) https://doi.org/10.1117/12.2611317
Event: International Conference on Mechanical Engineering, Measurement Control, and Instrumentation (MEMCI 2021), 2021, Guangzhou, China

Abstract

For the application background of multi-dimensional force and moment information collection of heavy-duty robotic arms. Firstly, a six-dimensional force sensor with overload protection function is designed. Secondly, a finite element analysis model of the elastic body of the sensor is established, and the sticking position of the resistance strain gauge is determined. The calibration device is used to calibrate the force and torque of the six-dimensional force sensor. Finally, the linear mean calibration algorithm is used to realize the decoupling of the calibration experimental data.

Citation Download Citation

Xiuyu Li, Yanzhao Yin, Quan Sun, Qiang Zhang, and Qi Jiang "Design and calibration experiment of six-dimensional force sensor for heavy-duty manipulator", Proc. SPIE 11930, International Conference on Mechanical Engineering, Measurement Control, and Instrumentation, 119301O (14 October 2021); https://doi.org/10.1117/12.2611317

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KEYWORDS

Calibration

Sensors

Robotics

Resistance

Finite element methods

Clouds

Error analysis

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