Release Time:2019-03-11  Hits:

Indexed by: Journal Article

Date of Publication: 2012-01-01

Journal: Sensors and Transducers

Included Journals: Scopus、EI

Volume: 142

Issue: 7

Page Number: 130-142

ISSN: 17265479

Abstract: A six-axis heavy force sensor, which is of great significance in huge manipulators, is developed based on the Stewart structure. By combining force analysis of multi-axis heavy force sensors on huge manipulators and "Shape from motion" calibration method, a calibration method on machine for multi-axis heavy force sensors is presented. Simulations of calibration processes for two-axis, three-axis and six-axis heavy force sensors are conducted respectively, and calibration experiment for two-axis heavy force sensor is conducted on the six-axis heavy force calibration equipment. The calibration results according to the calibration method on machine agree well with the least-square method, and the calibration method solves the difficult problem of calibration on multi-axis force measurement of the huge manipulator arm. ? 2012 IFSA.