Patent ID: 11867578
Assignee: SOUTHEAST UNIVERSITY
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A high-precision and miniaturized on-orbit calibration device for a six-dimensional force sensor of a space station manipulator, the on-orbit calibration device comprising a fixing bracket, three force applying devices, and a cubic stress block, wherein
the fixing bracket is in an inverted g-shape and comprises a horizontal plate two vertical plates vertically arranged on the horizontal plate, and a calibration cavity with a U-shaped longitudinal cross section that is formed between the two vertical plates and the horizontal plate;
the three force applying devices are respectively a first force applying device, a second force applying device and a third force applying device, which are all disposed in the calibration cavity; the first force applying device and the second force applying device are arranged on opposite sides of the two vertical plates respectively, and height positions of the first force applying device and the second force applying device on the corresponding vertical plates is adjustable; the third force applying device is arranged at a center of a top surface of the horizontal plate;
each force applying device comprises a force applying head, a single axis force sensor, a force source part and a fastening part;
the force source part comprises an upper support plate, a second electrode plate, piezoelectric ceramic plates, a first electrode plate and a lower support plate, which are coaxially arranged sequentially from top to bottom; the upper support plate is mounted on the lower support plate via the fastening part, and the second electrode plate, the piezoelectric ceramic plates and the first electrode plate are elastically compressed between the upper support plate and the lower support plate;
the single axis force sensor is mounted at a center of a top portion of the upper support plate, and the force applying head is mounted at a center of a top portion of the single axis force sensor and is hemispherical; and
the cubic stress block is mounted on a top portion of the six-dimensional force sensor, and a bottom portion of the six-dimensional force sensor is mounted at an end of the manipulator, such that the cubic stress block is able to be driven by the manipulator to extend into the calibration cavity and to be in contact with the three force applying heads in the three force applying devices; a precision of the single axis force sensor is higher than a precision of the six-dimensional force sensor.