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论文类型： 期刊论文

发表时间： 2012-01-01

发表刊物： Sensors and Transducers

收录刊物： EI、Scopus

卷号： 142

期号： 7

页面范围： 130-142

ISSN号： 17265479

摘要： 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.