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

2021 ◽  
Author(s):  
Xiuyu Li ◽  
Yanzhao Yin ◽  
Quan Sun ◽  
Qiang Zhang ◽  
Qi Jiang
Keyword(s):  
Force Sensor ◽  
Heavy Duty ◽  
Calibration Experiment

The thrust measurement system research for combined nozzle in small space

2018 ◽  
Vol 41 (4) ◽  
pp. 1149-1159
Author(s):  
Yonghua Lu ◽  
Jing Li ◽  
Xiang Zhang ◽  
Yang Li
Keyword(s):  
Measurement System ◽  
Force Sensor ◽  
Test Method ◽  
Small Space ◽  
System A ◽  
Calibration Experiment ◽  
Different Types ◽  
Thrust Measurement ◽  
Nozzle Thrust ◽  
Thrust Forces

For measuring the thrust of combined nozzles in satellite thruster with a small space, the test method that the nozzle directly sprays on the load baffle is employed in this paper. The key problem is how to design the positions of 10 load baffles and how to construct the measurement system. A set of complete and automatic nozzle thrust measurement system is designed and built, and the influence of the load baffle applied on the flow field of nozzles is analyzed using the software FLUENT. Furthermore, the load surface locations of the sensors for the different types of nozzles are analyzed. We draw the conclusion that the load baffle position should range from 4–8 mm for the I-type nozzle and range in 6–12 mm for II-type and III-type nozzle. The correction coefficients of the thrust forces for all channels of the measurement system are determined in the calibration experiment. The uncertainty of measurement system is estimated and the error source of the measurement system is traced. We found that the systematic uncertainty is mainly contributed by the A-type uncertainty which is related with the nozzle dimension and its inner structure. The B-type uncertainty of system is contributed by the force sensor.

Study on Measurement of Six-DOF Force/Torque for Loading Experiment on Heavy Load Equipment

2014 ◽  
Vol 543-547 ◽  
pp. 1115-1118 ◽  
Author(s):  
Yun Lu ◽  
Wei Jia Li ◽  
Wen Zhuo Tian ◽  
Kai Zhou
Keyword(s):  
Fatigue Test ◽  
High Sensitivity ◽  
Force Sensor ◽  
Test System ◽  
Large Engine ◽  
Heavy Load ◽  
Good Ability ◽  
Calibration Experiment ◽  
Generalized Force ◽  
Six Dof

According to the requirements of fatigue test of aircraft cabin, large engine and mining machinery for heavy-duty six dimensional generalized force sensors, a new method of using piezoelectric quartz as force-sensitive element on the basis of the theory of heavy force division and equivalent capacity compression is proposed in this study. Furthermore, in order to minimize the force-coupling for the six-dimension force sensor, the optimization objective function is devised and the calculation method for decoupling is also proposed, on the basis of which, the generalized force sensor with high sensitivity, high stiffness, high linearity but light in its weight is designed. At last, the static calibration experiment is carried out the result shows that the sensor has a good ability of heavy force division and capacity for equivalent compression it can be well used in large tonnage six component force loading device and fatigue test system.

scholarly journals Mathematical Model and Calibration Experiment of a Large Measurement Range Flexible Joints 6-UPUR Six-Axis Force Sensor

Sensors ◽  
2016 ◽  
Vol 16 (8) ◽  
pp. 1271 ◽  
Author(s):  
Yanzhi Zhao ◽  
Caifeng Zhang ◽  
Dan Zhang ◽  
Zhongpan Shi ◽  
Tieshi Zhao
Keyword(s):  
Mathematical Model ◽  
Force Sensor ◽  
Measurement Range ◽  
Flexible Joints ◽  
Calibration Experiment ◽  
Large Measurement

The Research on the Static Calibration of Fingertip Force Sensor for Underwater Dexterous Hand on RBF Neural Network

2007 ◽  
Vol 10-12 ◽  
pp. 267-270
Author(s):  
Peng Jia ◽  
Qing Xin Meng ◽  
Hua Wang ◽  
Hai Bo Wang
Keyword(s):  
Neural Network ◽  
Rbf Neural Network ◽  
Force Sensor ◽  
Calibration Method ◽  
Complex Task ◽  
Calibration System ◽  
Static Calibration ◽  
Fingertip Force ◽  
Calibration Experiment ◽  
Dexterous Hand

The fingertip force sensor is the key for the complex task of the dexterous underwater hand, in order to safely grasp an unknown object using the dexterous underwater hand and accurately perceive its position in the fingers, a sensor should be developed, which can detect the force and position simultaneously. Furthermore, this sensor should be used underwater. It is difficult to employ the accustomed calibration method for the characteristic of the fingertip force sensor, and the accustomed method is not able to assure the precision. A calibration method based on RBF (Radial-Basis Function) neural network is introduced. Furthermore, the calibration system and program are also designed. The calibration experiment of the sensor is carried out. The results show the nonlinear calibration method based on RBF neural network assure the precision of the sensor, which meets the demand of research on the underwater dexterous hand.

Study on a Six-Axis Sensor for Measuring the Loading Force of Large-Scale Equipment in Fatigue Test

2014 ◽  
Author(s):  
Yun Lu ◽  
Weijia Li ◽  
Kai Zhou ◽  
Xiao Wang ◽  
Yaozhong Wu
Keyword(s):  
Fatigue Test ◽  
Mechanical Model ◽  
Large Scale ◽  
Force Sensor ◽  
Large Structure ◽  
Heavy Load ◽  
Static Calibration ◽  
Calibration Experiment ◽  
Basic Performance ◽  
New Type

Aiming at solving the problem of measuring six-axis heavy load and improving measuring accuracy in fatigue test of large structure, this study presents a new type of six-axis force sensor based on the heavy load division principle. The sensor is made with piezoelectric quartz which is used as force sensitive element. This study proposes a type of four point support structure and the spatial mechanical model is deducted for the sensor. Finally, the static calibration experiment is carried out in this study. Experimental results show that the six-axis force of heavy load equipment can be measured with this type of sensor. The basic performance of the sensor shows that it can meet the engineering requirements well.

The Automobile Wagon for Heavy Duty

1900 ◽  
Vol 50 (1289supp) ◽  
pp. 20665-20668
Author(s):  
Arthur Herschmann
Keyword(s):  
Heavy Duty
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