六维力传感器标定及其在气动柔性手指上应用

提出了一种精密六维力传感器的标定方法。搭建了实验平台，采用移动滑台搭载测力计对传感器施加外力的方式，得到传感器在不同外力情况下各方向力和力矩输出的电压差值，利用数值分析方法对电压差值和外力、力矩大小之间的关系进行分析，获得了电压差值与外力、力矩大小的关系方程，并应用六维力传感器对气动柔性手指进行了夹持力实验研究。实验结果表明，柔性手指指尖夹持力、所受力矩随气压增加而增大，且指根处受力、力矩均小于指尖夹持力及夹持力所产生力矩，为后续柔性机械手的研究提供了科学依据。

Six-dimensional Force Sensor Calibration and its Application in Pneumatic Flexible Finger

This paper presents a calibration method for a precision 6 - axis force sensor. By building an experimental platform, useing dynamometer that on the moving table apply an external force to the sensor, the senor can output difference voltage under the different force. Analyzing the relationship between the difference voltage with force and torque by numerical analysis method, then get the relation equation of them, use the calibration experiment result to analyze the force of pneumatic finger. The experiment result shows that the relationship between difference voltage with force and torque are linear; and there are great difference between fingertips force and finger base’s force.