A six-axis force and torque generation machine

Dong Lin Tsai, Yu Jen Wang, Chun Chieh Wang, Paul C.-P. Chao

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This study developed a force-generating machine for calibrating a six-axis force sensor. The force-generating machine provides six-axis forces and torques by using fixtures at different gestures. The main body of the force-generating machine is composed of two voice coil motors (VCMs) and two one-axis load cells. To establish the transfer function of the six-axis force sensor, the precision of the force-generating machine should be higher than that of the six-axis force sensor. The concept of the calibration machine is to use two high-precision load cells instead of six and a complex system. The control unit, VCMs, and load cells form a feed-back controlled loop to provide reliable forces. The measured data was transmitted using the data acquisition card. NI LabVIEW was used as the human-machine interface to control the output forces and torques. Users know the forces and torques applied on the calibrating six-axis force sensor by using the human-machine interface. The system was developed with intelligent control ability that can reduce human operation errors. This paper discusses accuracy, repeatability, signal resolution, six-axis force output planning, force feedback, and general aspects for force positioning..

Original languageEnglish
Title of host publication2015 IFToMM World Congress Proceedings, IFToMM 2015
PublisherNational Taiwan University
ISBN (Electronic)9789860460988
DOIs
StatePublished - 1 Jan 2015
Event14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 - Taipei, Taiwan
Duration: 25 Oct 201530 Oct 2015

Publication series

Name2015 IFToMM World Congress Proceedings, IFToMM 2015

Conference

Conference14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
CountryTaiwan
CityTaipei
Period25/10/1530/10/15

Keywords

  • Feedback control
  • Force sensor calibration
  • Six-axis force-generating machine

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