Calibration of a Novel Six-Degree-of-Freedom Force/Torque Measurement System

Abstract

Multi-component force/torque transducers are used in a large field of scientific and industrial applications like robotics, biomechanics and even fluid mechanics. These sensors need to be calibrated for traceable measurements. As the calibration procedure determines the measurement uncertainty, it plays an important role in sensor development for reaching the required measurement specifications. For the application in local Lorentz Force Velocimetry (Ref. 1) a six degree of freedom force/torque sensor for measurement ranges of ± 0.2 N and ± 5 mNm was developed. This sensor can also be adapted to other applications that require multi-dimensional force/torque feedback in the µN-and µNm-range such as tactile dimensional measurements and micro-manipulation. This paper discusses the calibration and the evaluation of the properties of the calibration device and the calibration procedure of the sensor system. After a brief introduction of the sensor design and its working principle the calibration setup is described and the uncertainty contributions to the forces and torques are calculated. Then the calibration procedure is presented and the resulting output signals of the sensor are depicted. As a result of the calibration, the calibration matrix is given with a discussion of its major components.

Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

“…To determine the sensor-matrix K, known loads are applied to the sensor [7,9]. In this case, the set-up shown in figure 4 is used.…”

Local Lorentz force flowmeter at a continuous caster model using a new generation multicomponent force and torque sensor

“…This enables us to access all three local velocity components at the same time by either the force or the torque signals. After its calibration [7,8], we applied this sensor to investigate the three dimensional velocity structure near the wide face of the mold of a continuous caster model. The Mini-LIMMCAST facility (LIquid Metal Model for continuous CASTing of steel) uses GaInSn as test melt being liquid at room temperature [13].…”

Mehrkomponenten-Kraft- und -Drehmomentsensor nach dem Prinzip der elektromagnetischen Kompensation

“…= C (11) Zur Bestimmung der Kalibriermatrix C ∈ ℝ 6×6 werden bekannte Kräfte und Drehmomente mit dem in [19] beschriebenen Systems in Schritten von 1 nm und die Winkelpositionierung in Schritten von 20 nrad dargestellt.…”