A Novel 6-dimensional Force Measurement Based on the Electric 6-DOF Loading Device

IF 2.7 3区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY Measurement Science and Technology Pub Date : 2023-12-21 DOI:10.1088/1361-6501/ad1812

Yong Sang, Lianjie Liao, Tao Chen, Jiakuo Liu

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Abstract

The 6-degrees-of-freedom (6-DOF) platform has gained popularity in industry owing to its advantages, especially in indoor simulation experiment requiring 6-dimensional force environments. However, up to date, the measurement of such 6-dimensional forces is challenging due to complex structures, difficult decoupling, and high costs. In this study, an electric 6-DOF loading device designed by ourselves is presented, with an ability to load high precision displacement and force. To measure the 6-dimensional force of the device’s moving platform, this paper proposes a scheme involving embedding tension-compression sensors in each leg of the device and describes the mechanical model of the device. Then a novel method with a variable transformation matrix is proposed, complemented by a decoupling study that optimizes the variable transformation matrix. Finally, we validate the proposed method through an external force loading experiment. The results indicate that the error in Fy experiment is less than 2.7%, and the error in Fz experiment is less than 1.6%. The novel method exhibits high accuracy, easy installation, fast response, and low cost.

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基于电动 6-DOF 加载装置的新型 6 维测力装置

6 自由度（6-DOF）平台因其优势而在工业界广受欢迎，尤其是在需要 6 维受力环境的室内模拟实验中。然而，迄今为止，由于结构复杂、解耦困难和成本高昂，测量这种 6 维力具有挑战性。本研究介绍了一种由我们自己设计的电动 6-DOF 加载装置，它能够加载高精度的位移和力。为了测量该装置移动平台的六维力，本文提出了一种在该装置的每个支腿上嵌入拉伸-压缩传感器的方案，并描述了该装置的机械模型。然后，我们提出了一种带有可变变换矩阵的新方法，并辅以优化可变变换矩阵的解耦研究。最后，我们通过外力加载实验验证了所提出的方法。结果表明，Fy 实验中的误差小于 2.7%，Fz 实验中的误差小于 1.6%。这种新方法具有精度高、安装简便、响应速度快和成本低等优点。

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来源期刊

Measurement Science and Technology 工程技术-工程：综合

CiteScore

4.30

自引率

16.70%

发文量

656

审稿时长

4.9 months

期刊介绍： Measurement Science and Technology publishes articles on new measurement techniques and associated instrumentation. Papers that describe experiments must represent an advance in measurement science or measurement technique rather than the application of established experimental technique. Bearing in mind the multidisciplinary nature of the journal, authors must provide an introduction to their work that makes clear the novelty, significance, broader relevance of their work in a measurement context and relevance to the readership of Measurement Science and Technology. All submitted articles should contain consideration of the uncertainty, precision and/or accuracy of the measurements presented. Subject coverage includes the theory, practice and application of measurement in physics, chemistry, engineering and the environmental and life sciences from inception to commercial exploitation. Publications in the journal should emphasize the novelty of reported methods, characterize them and demonstrate their performance using examples or applications.