6-UPUR并联式六维测力平台静态性能标定研究
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摘要
大量程高精度六维测力平台在航空航天、风洞实验以及工业工程等领域具有广泛的应用前景。并联式测力平台具有刚度与承载能力大、结构稳定、无误差积累等优点,基于以上优点本课题组研制了大量程柔性铰6-UPUR并联式六维测力平台。本文主要对6-UPUR并联式六维测力平台静态性能标定进行了研究,主要内容如下:
(1)对6-UPUR并联式六维测力平台的线性标定方法和非线性标定方法进行了分析研究。给出了线性标定方法中的K值标定法和最小二乘法的相关公式;非线性标定方法包括BP神经网络法和RBF神经网络法,确定了适合本6-UPUR并联式六维测力平台的相关网络参数。
(2)在上述各种标定方法研究的基础上,基于LABVIEW开发了适合大量程柔性铰6-UPUR并联式六维测力平台静态性能标定的软件,同时给出了该六维测力平台静态性能标定实验的具体步骤,并完成了该六维测力平台静态性能标定实验。
(3)利用实验数据计算了线性标定方法对应的标定矩阵和各种标定方法的误差矩阵,分析了6-UPUR并联式六维测力平台各支路测量电压的线性度;另外,本文对该六维测力平台维间耦合等问题进行了分析研究。
(4)对6-UPUR并联式六维测力平台误差影响因素进行了分析研究,并提出了相关改进措施。
本文开发的大量程柔性铰6-UPUR并联式六维测力平台静态性能标定系统对其它类型传感器的标定具有一定的参考价值,所得的6-UPUR并联式六维测力平台静态性能标定结果对该六维测力平台的性能评价具有重要意义,6-UPUR并联式六维测力平台误差影响因素分析对本六维测力平台的改进具有指导意义。
6-axis force/torque platform which has large range and high accuracy has extensive application prospects in aviation,wind tunnel experiments,industrial engineerings and some other fields. Parallel force/torque platform is characterized by high rigidity , large load-carrying capacity,good structural stability,not-accumulative error. Based on these advantages our team has designed a wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints. This paper researches the static performance calibration of 6-axis force/torque platform which is 6-UPUR parallel structure. The main research contents are as follows:
(1)Linear and nonlinear calibration methods of 6-UPUR parallel structural 6-axis force/torque platform are researched. The linear calibration methods include K value calibration method and least-squares calibration method. Relevant formulas are deduced. The non-linear calibration methods include BP neural network method and RBF neural network method. The relevant proper network parameters of the 6-UPUR parallel structural 6-axis force/torque platform are chosen.
(2)Based on the research of above calibration methods and LBVIEW,the static performance calibration’s software system which suits wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints is developed,concrete steps of static performance calibration experiment of 6-axis force/torque platform is given , and does the static performance calibration experiment.
(3) Based on experimental datas,calibration matrixes of linear calibration methods and error matrixes of each calibration methods are calculated,and analyzes linearities of each branches’s measured voltages of the 6-UPUR parallel 6-axis force /torque platform. In addition,the paper analyzes coupling between different dimensions.
(4)Various of factors which affects the measurement error of 6-UPUR parallel structural 6-axis forc/torque platform are researched,relevant measures for improvement are given.
The static performance calibration system of wide range 6-UPUR parallel 6-axis force/torque platform with flexibel joints has a certain reference to the other types of platform’s calibration. The calibration result of the static performance is significant to the 6-UPUR parallel 6-axis force/torque platform’s performance evaluation. Analysising to the factors about 6-UPUR parallel 6-axis force/torque platform’s error has guiding significance to the improvment of the 6-axis force/torque platform.
(1)对6-UPUR并联式六维测力平台的线性标定方法和非线性标定方法进行了分析研究。给出了线性标定方法中的K值标定法和最小二乘法的相关公式;非线性标定方法包括BP神经网络法和RBF神经网络法,确定了适合本6-UPUR并联式六维测力平台的相关网络参数。
(2)在上述各种标定方法研究的基础上,基于LABVIEW开发了适合大量程柔性铰6-UPUR并联式六维测力平台静态性能标定的软件,同时给出了该六维测力平台静态性能标定实验的具体步骤,并完成了该六维测力平台静态性能标定实验。
(3)利用实验数据计算了线性标定方法对应的标定矩阵和各种标定方法的误差矩阵,分析了6-UPUR并联式六维测力平台各支路测量电压的线性度;另外,本文对该六维测力平台维间耦合等问题进行了分析研究。
(4)对6-UPUR并联式六维测力平台误差影响因素进行了分析研究,并提出了相关改进措施。
本文开发的大量程柔性铰6-UPUR并联式六维测力平台静态性能标定系统对其它类型传感器的标定具有一定的参考价值,所得的6-UPUR并联式六维测力平台静态性能标定结果对该六维测力平台的性能评价具有重要意义,6-UPUR并联式六维测力平台误差影响因素分析对本六维测力平台的改进具有指导意义。
6-axis force/torque platform which has large range and high accuracy has extensive application prospects in aviation,wind tunnel experiments,industrial engineerings and some other fields. Parallel force/torque platform is characterized by high rigidity , large load-carrying capacity,good structural stability,not-accumulative error. Based on these advantages our team has designed a wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints. This paper researches the static performance calibration of 6-axis force/torque platform which is 6-UPUR parallel structure. The main research contents are as follows:
(1)Linear and nonlinear calibration methods of 6-UPUR parallel structural 6-axis force/torque platform are researched. The linear calibration methods include K value calibration method and least-squares calibration method. Relevant formulas are deduced. The non-linear calibration methods include BP neural network method and RBF neural network method. The relevant proper network parameters of the 6-UPUR parallel structural 6-axis force/torque platform are chosen.
(2)Based on the research of above calibration methods and LBVIEW,the static performance calibration’s software system which suits wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints is developed,concrete steps of static performance calibration experiment of 6-axis force/torque platform is given , and does the static performance calibration experiment.
(3) Based on experimental datas,calibration matrixes of linear calibration methods and error matrixes of each calibration methods are calculated,and analyzes linearities of each branches’s measured voltages of the 6-UPUR parallel 6-axis force /torque platform. In addition,the paper analyzes coupling between different dimensions.
(4)Various of factors which affects the measurement error of 6-UPUR parallel structural 6-axis forc/torque platform are researched,relevant measures for improvement are given.
The static performance calibration system of wide range 6-UPUR parallel 6-axis force/torque platform with flexibel joints has a certain reference to the other types of platform’s calibration. The calibration result of the static performance is significant to the 6-UPUR parallel 6-axis force/torque platform’s performance evaluation. Analysising to the factors about 6-UPUR parallel 6-axis force/torque platform’s error has guiding significance to the improvment of the 6-axis force/torque platform.
引文
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2姚裕,吴洪涛,张召明.基于Stewart平台的六维力传感器在风洞天平中应用.淮安工学院学报,2002,11(4):12-14
3高晓辉,刘宏,蔡鹤皋,姜力.机器人手指尖六维力/力矩传感器的研制.高技术通讯,2002,03:67-69
4 http://www.sunsortech.com/html/bigpic/pl.jpg
5 http://www.cwm.it/html/Kyowa/Auto/6_wtorque_e.pdf
6 D.Diddens,D.Reynaerts,et al. Design of A Ring-shaped Three-axis Micro Force/Torque Sensor. Sensors and Actuators A,1995:225-232
7 Hartung, Winfried, Gensheimer, Valentin. System for Measuring the Engagement Pressure between Cylinders of a Printing Press. United States Patent, Patent No.4 625 568, Date of Patent,1986-12
8 Angelbeck, J. John. Load Bar Weighing System. United States Patent, Patent No.4 657 096, Date of Patent,1987-4
9 Aoki, Hiroyuki, Yahagi, Shinichiro, Saito, Takanobu. Torque Detecting Device. United States Patent, Patent No.4 840 073, Date of Patent,1989-6
10 Beihoff, C. Bruce. Torque Sensor. United States Patent, Patent No.4 852 411, Date of Patent,1989-8
11 Dobler, Klaus, Hachtel, Hansjorg, Zimmermann, Georg. Process for Contactless Measurement of Mechanical Stress and Device for Carry Out the Same. United States Patent, Patent No.4 976 160, Date of Patent,1990-12
12 Stuart, O. Keith. Force and Torque Measurement System. United States Patent, Patent No.4 998 441, Date of Patent,1991-3
13 Hesthamer Tore, Tyren, Carl. Device for Non-contact Measuring of Stresses in a Bar-shaped Body. United States Patent, Patent No.5 020 378, Date of Patent,1991-6
14 Ikeda, Hideo, Hamamura, Chiyo, Satoh, Hiroshi, Utsui, Yoshihiko. Strain Detector. United States Patent, Patent No. 5 036 713, Date of Patent,1991-8
15 Poekristl, Albert, Steinberger, Johann. Device for Measuring the Spacing between Aligned Rails. United States Patent, Patent No. 5 053 701, Date of Patent,1991-10
16 Ch’Hayder, Ameur, Durand, Didier, Diaz, Constantino. Process for Producing Sensors for Measuring Spatial Forces and Sensors Obtained. United States Patent, Patent No. 5 063 788, Date of Patent,1991-11
17 Grant, P. Andris, Ballantyne, J. William. Force Moment Sensor. United States Patent, Patent No. 5 295 399, Date of Patent,1994-3
18袁哲俊,王娜君.机器人用六维力/力矩传感器.中国专利,专利号:CN-2066134U,日期,1990,11,21
19易秀芳,王容川.六分量力与力矩传感器.中国专利,专利号:CN-2233081U,日期,1996,8,14
20 P. C. Watson, S. H. Drake. Pedestal Wrist Force Sensors for Industrial Assembly. Proc. of the 5th Int. Symp. On Industrial Robots, Chicago, 1975:501-511
21 B. Shimano, B. Roth. On Force Sensing Information and Its Use in Controlling Manipulators. Proc. Of the 8th Int. Symp. On Industrial Robots, 1979:227-229
22 J. Schott. Tactile Sensor With Decentralized Signal Conditioning. The 9th IMEKO World Congress, Beilin, 1982:138-143
23 Robot Technology. London: Kegon page Ltd, 1983
24 P. Dario. Sensors and Sensory Systems for Advanced Robots. Germany: Springer-Verlag Berlin Geidelberg, 1988:429-445
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