CAJ | 학술논문

耦合误差严重影响着六维力传感器的精度，标定试验的准确性对提高六维力传感器的精度也是必不可少的。针对传感器输出电压正负方向拟合函数不同提出了一种基于耦合误差和分段拟合建模的六维力传感器解耦算法。用十字梁结构的传感器进行标定试验，将得到的标定数据应用于解耦算法中。通过标定数据验证了基于耦合误差和分段拟合的静态解耦算法性能的优越性。
우합오차엄중영향착륙유력전감기적정도，표정시험적준학성대제고륙유력전감기적정도야시필불가소적。침대전감기수출전압정부방향의합함수불동제출료일충기우우합오차화분단의합건모적륙유력전감기해우산법。용십자량결구적전감기진행표정시험，장득도적표정수거응용우해우산법중。통과표정수거험증료기우우합오차화분단의합적정태해우산법성능적우월성。
The static coupling to six-axis force sensor is a key factor to its precision. The accuracy of the calibration test is also indispensable for improving the precision of six-axis force sensor. Against the difference of sensor output voltage of positive and negative direction fitting function, a static decoupling algorithm of six-axis force sensor is proposed based on coupling error and piecewise fitting model. A large number calibration data obtained in calibration test of cross beam structure sensor are used in static decoupling algorithm. Finally,the calibration test results of this static decoupling algorithm verify the superior performance of coupling error and piecewise fitting-based static decoupling algorithm.