多支点测力平台维间耦合误差建模与精度分配

doi:10.13229/j.cnki.jdxbgxb.20231260

Abstract

Abstract:

In response to the causes of unclear and difficult reduction of coupling errors in force measurement platforms arranged with multiple sensors， this article takes the piezoelectric six axis force measurement platform as the research object， analyzes the coupling causes from the entire process of sensor coupling， assembly error and calibration device. Based on measurement principles， establish an inter dimensional coupling model containing 34 influencing factors， use sensitivity algorithms to screen and quantify the degree of influence of each factor， and accuracy tolerance allocate is performed with a coupling error ≤ 5% of the range as the target. The sampling simulation shows that the 99% confidence upper limit of each coupling error after allocation meets the requirements. Experiment shows that the coupling error of platform force output is ≤ 3.64% of the range under tolerance， and the coupling error of torque output is ≤ 4.80% of the range， which verify the effectiveness of the accuracy range and their applicability in coupling error control.

Key words: precision instrument and machinery, inter-dimensional coupling, measurement error, large range six-axis force, sensitivity analysis

CLC Number:

TH823

Jun ZHANG,Yu-he WANG,Nan JIANG,Jia-le CAI,Xuan-de TENG,Peng ZHANG. Modeling and accuracy allocation of inter-dimensional coupling errors in multi pivot force measurement platforms[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(8): 2501-2510.

Figures/Tables 16

Fig.1

Fig.2

Fig.3

Table 1

Factor normal distribution table"

误差因素项	$σ$ /rad
r₁， r₂， r₃， r₄	0.005 8
$θ x y$ ， $θ x z$ ， $θ y x$ ， $θ y z$ ， $θ z x$ ， $θ z y$	0.011 6
k_xy_1~4， k_xz_1~4， k_yx_1~4， k_yz_1~4， k_zx_1~4， k_zy_1~4	0.016 7

Table 1

Fig.4

Table 2

Screening results of coupling factors under the action of Fx"

耦合方向	影响因素
F_y	r_1~4， $θ y x$ ， k_xy_1~4， k_zy_1~4
F_z	$θ z x$ ， k_xz_1~4
M_x	r_1~4， $θ y x$ ， k_xy_1~4， k_xz_1~4， k_zy_1~4
M_y	k_xz_1~4， k_zx_1~4
M_z	r_1~4， $θ y z$ ， k_xy_1~4，k_zx_1~4，k_zy_1~4

Table 2

Fig.5

Table 3

Fy coupling factor half bandwidth allocation under Fx"

耦合因素	数值	耦合因素	数值
r₁	0.007 9	k_xy₃	0.015 6
r₂	0.007 9	k_xy₄	0.015 6
r₃	0.007 9	k_zy₁	0.012 5
r₄	0.007 9	k_zy₂	0.012 5
$θ y x$	0.020 0	k_zy₃	0.012 5
k_xy₁	0.015 6	k_zy₄	0.012 5
k_xy₂	0.015 6

Table 3

Table 4

Mx coupling factor half bandwidth allocation under Fx"

耦合因素	数值	耦合因素	数值
r₁	0.011 7	k_xz₁	0.029 2
r₂	0.011 7	k_xz₂	0.029 2
r₃	0.011 7	k_xz₃	0.029 2
r₄	0.011 7	k_xz₄	0.029 2
$θ y x$	0.030 2	k_zy₁	0.019 0
k_xy₁	0.023 6	k_zy₂	0.049 4
k_xy₂	0.023 6	k_zy₃	0.019 0
k_xy₃	0.023 6	k_zy₄	0.049 4
k_xy₄	0.023 6

Table 4

Fig.6

Table 5

Table 6

Fig.7

Table 7

Measurement results of device angle error"

项目	$θ x y$	$θ x z$	$θ y x$	$θ y z$	$θ z x$	$θ z y$
F_x /F_y /F_z	0.017 2	0	-0.020 6	-0.014 0	0.008 7	0.006 1
M_x	-0.003 4	—	—	—	—	0.014 8
M_y /M_z	—	—	-0.003 4	0.014 8	—	—

Table 7

Fig.8

Fig.9

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项目	F_x 耦合输出	F_y 耦合输出	F_z 耦合输出	M_x 耦合输出	M_y 耦合输出	M_z 耦合输出
F_x 加载	—	［-136.79，139.02］	［-222.41，215.41］	［-9.33，9.49］	［-7.69.7.18］	［-7.41，6.56］
F_y 加载	［-136.97，141.55］	—	［-215.35.231.32］	［-7.37，7.58］	［-9.66，10.19］	［-7.31，6.76］
F_z 加载	［-182.68，199.72］	［-192.10，194.09］	—	［-8.91，9.06］	［-8.59，9.39］	［-8.78，9.08］
M_x 加载	［-42.01，40.72］	［-43.63，41.72］	［-0.79，0.75］	—	［-1.97，1.92］	［-11.30，10.48］
M_y 加载	［-39.99，41.91］	［-41.55，44.15］	［-0.73，0.79］	［-1.93，1.96］	—	［-10.32，10.93］
M_z 加载	［-32.02，33.56］	［-40.00，34.31］	［-67.47，68.52］	［-11.87，12.68］	［-13.06，12.64］	—

编号	k_yx	k_zx	k_zy	k_xy	k_xz	k_yz
1	0.010 4	-0.000 4	-0.004 5	0.012 6	-0.014 7	0.019 2
2	0.014 9	-0.004 3	0.001 9	-0.009 3	-0.018 2	-0.011 6
3	-0.008 1	-0.003 2	0.002 0	0.010 4	0.011 2	0.014 7
4	0.002 7	0.003 5	0.002 6	-0.006 4	0.014 1	0.005 4

Modeling and accuracy allocation of inter-dimensional coupling errors in multi pivot force measurement platforms

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