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

Claim 5:
6. The high-precision and miniaturized on-orbit calibration method for the six-dimensional force sensor of a space station manipulator according to claim 5, the on-orbit calibration method further comprising the following steps:
step 4: calibrating a torque around the X-direction, comprising the following steps:
step 41: mounting the force applying devices: mounting the axis of the first force applying device and the axis of the second force applying device at different heights, and mounting the third force applying device at the center of the top surface of the horizontal plate;
step 42: mounting a cubic stress block: mounting the cubic stress block as described in the step 12: wherein, the Y-direction of the six-dimensional force sensor is subjected to be parallel to the axial direction of the first force applying device, and the Z-direction of the six-dimensional force sensor is subjected to coincide with the axial direction of the third force applying device;
step 43: calibrating a torque around the positive X-direction: controlling the first force applying device and the second force applying device to apply multiple groups of forces of equal value on the cubic stress block at the same time, logging the data of the single axis force sensors in the first and second force applying devices and the data of the six-dimensional force sensor, such that the calibration of the torque around the positive X-direction is realized; wherein the multiple groups of forces of equal value refer to multiple groups of forces, in which the forces applied by the first force applying device and the second force applying device in each group of forces are equal to each other in magnitude; and
step 44: calibrating a torque around the negative X-direction: resetting the first force applying device and the second force applying device, turning the six-dimensional force sensor around the Z-axis by 180° or exchanging height positions of the first force applying device and the second force applying device; controlling the first force applying device and the second force applying device again to apply multiple groups of forces of equal value on the cubic stress block at the same time, logging and comparing the data of the single axis force sensors in the first and second force applying devices and the data of the six-dimensional force sensor, such that the calibration of the torque around the negative X-direction is realized;

step 5: calibrating a torque around the Y-direction, comprising the following steps:
step 51: adjusting the stress direction of the cubic stress block: resetting the first force applying device and the second force applying device, turning the manipulator so that the Z-direction of the six-dimensional force sensor coincides with the axial direction of the third force applying device and the X-direction of the six-dimensional force sensor is parallel to the axial direction of the first force applying device; and
step 52: calibrating the torque around the Y-direction: calibrating the torque around the positive Y-direction as described in the step 43; calibrating a torque around the negative Y-direction as described in the step 44;

step 6: calibrating a torque around the Z-direction, comprising the following steps:
step 61: adjusting the stress direction of the cubic stress block: resetting the first force applying device and the second force applying device, turning the manipulator so that the Z-direction of the six-dimensional force sensor is perpendicular to a plane where the axes of the first force applying device, the second force applying device and the third force applying device lie, and the X-direction or Y-direction of the six-dimensional force sensor coincides with the axial direction of the third force applying device;
step 62: calibrating a torque around a positive Z-direction: controlling the first force applying device and the second force applying device to apply multiple groups of forces of equal value on the cubic stress block at the same time, logging and comparing the data of the single axis force sensors in the first and second force applying devices and the data of the six-dimensional force sensor, such that the calibration of the torque around the positive Z-direction is realized; and
step 63: calibrating a torque around a negative Z-direction: resetting the first force applying device and the second force applying device after the calibration of the torque around the positive Z-direction is finished, turning the six-dimensional force sensor around the Z-axis by 180° or exchanging the height positions of the first force applying device and the second force applying device; controlling the first force applying device and the second force applying device again to apply multiple groups of forces of equal value on the cubic stress block at the same time, logging and comparing the data of the single axis force sensors in the first and second force applying devices and the data of the six-dimensional force sensor, such that the calibration of the torque around the negative Z-direction is realized.