Jin Zhenlin

(School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004)

Gao Feng

(School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030)

Zhao Xianchao

(School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004)

Abstract: The problem of the calibration of a novel 6 degrees of freedom force-sensing controller with parallel structure has been addressed. The controller constitution, working technique and calibration system are described. The calibration process is presented and the experiment is accomplished. The relationships between the applied force and the output voltage of the force-sensing controller are analyzed and the sensitivity evaluation criteria of the controller are proposed. Finally, the sensitivity analysis for the controller is given based on the calibration matrix. The results obtained are significant and useful for the development and industrialization of the 6 degrees of freedom force-sensing controller.

Key words: Parallel architecture  6 degrees of freedom controller  Calibration

CLC No: TP242  TM930

天津市自然科学基金(023800311)和2003年河北省科技成果产业化资助项目. Received 20050104, received in revised form 20050328