Calibration and analysis of sixdimentional wheel force sensor
XIONG Linghua1, CHEN Shouliang2, ZHANG Kewu1, GUO Wei1
(1.Institute of Industry Technology, Guangzhou & Chinese Academy of Sciences, Guangzhou 510632, China; 2.702 Institute China Aerospace, Beijing 100076, China)
 

Abstract: Aiming at the low precision of numerical decoupling of the six dimensional WFS (Wheel Force Sensor), by designing a calibration mechanical system, a WFS was calibrated and decoupled to evaluate the performance and find a high accuracy decoupling method. The measuring principle of a six dimensional WFS and how to decouple it were discussed. Through the way of multidirectional combination load and using least squares method (LSM), the coupling coefficient matrix (CCM) of the sensor was obtained, and the characteristics of the CCM and coupling rate were discussed. The results indicate that the decoupling by multidirectional combination load and LSM can solve the difficulty of load a single force, and make the measuring accuracy of WFS higher.
Key words: six dimension wheel force sensor; calibration; decoupling