【作者】 丁长涛；

【导师】 赵铁石；

【作者基本信息】 燕山大学 ， 机械电子工程， 2010， 硕士

【摘要】 大量程高精度六维测力平台在航空航天、风洞实验以及工业工程等领域具有广泛的应用前景。并联式测力平台具有刚度与承载能力大、结构稳定、无误差积累等优点,基于以上优点本课题组研制了大量程柔性铰6-UPUR并联式六维测力平台。本文主要对6-UPUR并联式六维测力平台静态性能标定进行了研究,主要内容如下:(1)对6-UPUR并联式六维测力平台的线性标定方法和非线性标定方法进行了分析研究。给出了线性标定方法中的K值标定法和最小二乘法的相关公式;非线性标定方法包括BP神经网络法和RBF神经网络法,确定了适合本6-UPUR并联式六维测力平台的相关网络参数。(2)在上述各种标定方法研究的基础上,基于LABVIEW开发了适合大量程柔性铰6-UPUR并联式六维测力平台静态性能标定的软件,同时给出了该六维测力平台静态性能标定实验的具体步骤,并完成了该六维测力平台静态性能标定实验。(3)利用实验数据计算了线性标定方法对应的标定矩阵和各种标定方法的误差矩阵,分析了6-UPUR并联式六维测力平台各支路测量电压的线性度;另外,本文对该六维测力平台维间耦合等问题进行了分析研究。(4)对6-UPUR并联式六维测力平台误差影响因素进行了分析研究,并提出了相关改进措施。本文开发的大量程柔性铰6-UPUR并联式六维测力平台静态性能标定系统对其它类型传感器的标定具有一定的参考价值,所得的6-UPUR并联式六维测力平台静态性能标定结果对该六维测力平台的性能评价具有重要意义,6-UPUR并联式六维测力平台误差影响因素分析对本六维测力平台的改进具有指导意义。更多还原

【Abstract】 6-axis force/torque platform which has large range and high accuracy has extensive application prospects in aviation,wind tunnel experiments,industrial engineerings and some other fields. Parallel force/torque platform is characterized by high rigidity , large load-carrying capacity,good structural stability,not-accumulative error. Based on these advantages our team has designed a wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints. This paper researches the static performance calibration of 6-axis force/torque platform which is 6-UPUR parallel structure. The main research contents are as follows:(1)Linear and nonlinear calibration methods of 6-UPUR parallel structural 6-axis force/torque platform are researched. The linear calibration methods include K value calibration method and least-squares calibration method. Relevant formulas are deduced. The non-linear calibration methods include BP neural network method and RBF neural network method. The relevant proper network parameters of the 6-UPUR parallel structural 6-axis force/torque platform are chosen.(2)Based on the research of above calibration methods and LBVIEW,the static performance calibration’s software system which suits wide range 6-UPUR parallel structural 6-axis force/torque platform with flexible joints is developed,concrete steps of static performance calibration experiment of 6-axis force/torque platform is given , and does the static performance calibration experiment.(3) Based on experimental datas,calibration matrixes of linear calibration methods and error matrixes of each calibration methods are calculated,and analyzes linearities of each branches’s measured voltages of the 6-UPUR parallel 6-axis force /torque platform. In addition,the paper analyzes coupling between different dimensions.(4)Various of factors which affects the measurement error of 6-UPUR parallel structural 6-axis forc/torque platform are researched,relevant measures for improvement are given.The static performance calibration system of wide range 6-UPUR parallel 6-axis force/torque platform with flexibel joints has a certain reference to the other types of platform’s calibration. The calibration result of the static performance is significant to the 6-UPUR parallel 6-axis force/torque platform’s performance evaluation. Analysising to the factors about 6-UPUR parallel 6-axis force/torque platform’s error has guiding significance to the improvment of the 6-axis force/torque platform.更多还原