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Vol. 142, No. 7, July 2012, pp. 130-142




Calibration Method on Machine for Multi-axis Heavy Force Sensor

Wei LIU, Zhenyuan JIA and Qi LI

Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, 116024, PR China


E-mail: lw2007@dlut.edu.cn



Received: 15 May 2012   /Accepted: 23 July 2012   /Published: 31 July 2012

Digital Sensors and Sensor Sysstems


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.


Keywords: Six-axis heavy force sensor, Calibration, On machine, Shape from motion



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