title: Mathematical Model and Calibration Experiment of a Large Measurement Range Flexible Joints 6-UPUR Six-Axis Force Sensor.
abstract: Nowadays improving the accuracy and enlarging the measuring range of six-axis force sensors for wider applications in aircraft landing, rocket thrust, and spacecraft docking testing experiments has become an urgent objective. However, it is still difficult to achieve high accuracy and large measuring range with traditional parallel six-axis force sensors due to the influence of the gap and friction of the joints. Therefore, to overcome the mentioned limitations, this paper proposed a 6-Universal-Prismatic-Universal-Revolute (UPUR) joints parallel mechanism with flexible joints to develop a large measurement range six-axis force sensor. The structural characteristics of the sensor are analyzed in comparison with traditional parallel sensor based on the Stewart platform. The force transfer relation of the sensor is deduced, and the force Jacobian matrix is obtained using screw theory in two cases of the ideal state and the state of flexibility of each flexible joint is considered. The prototype and loading calibration system are designed and developed. The K value method and least squares method are used to process experimental data, and in errors of kind Ι and kind II linearity are obtained. The experimental results show that the calibration error of the K value method is more than 13.4%, and the calibration error of the least squares method is 2.67%. The experimental results prove the feasibility of the sensor and the correctness of the theoretical analysis which are expected to be adopted in practical applications.
authors.affiliation: Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China. yzzhao@ysu.edu.cn.|Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China. yzzhao@ysu.edu.cn.
authors.forename: Yanzhi
authors.initials: Y
authors.lastname: Zhao
authors.affiliation: Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China. cfzhang@stumail.ysu.edu.cn.|Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China. cfzhang@stumail.ysu.edu.cn.
authors.forename: Caifeng
authors.initials: C
authors.lastname: Zhang
authors.affiliation: Department of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J1P3, Canada. dan.zhang@lassonde.yorku.ca.
authors.forename: Dan
authors.initials: D
authors.lastname: Zhang
authors.affiliation: Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China. liyang@stumail.ysu.edu.cn.|Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China. liyang@stumail.ysu.edu.cn.
authors.forename: Zhongpan
authors.initials: Z
authors.lastname: Shi
authors.affiliation: Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University, Qinhuangdao 066004, China. tszhao@ysu.edu.cn.|Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao 066004, China. tszhao@ysu.edu.cn.
authors.forename: Tieshi
authors.initials: T
authors.lastname: Zhao
keywords: calibration experiment; flexible joints; parallel mechanism; six-axis force sensor