基于并联六自由度的广义力标定装置

输出或检测六维力的大小及其精度是一些并联六自由度机构的重要性能指标，这些机构包括并联六自由度平台、Stewart六维力传感器及并联六自由度机床等装置。目前，能系统地检测这些装置性能指标的标定装置还不多见。本文讨论一种能对并联六自由度机构进行广义加载并能对Stewart六维力传感器及其它多维力传感器进行静态标定的标定装置，本装置具有结构比较简单、操作方便、制造成本低等优点。

The Device for Calibration Based on the Six-freedom of Generalized Force

The output and test accuracy of six - axis force/torque are the most important performance indexes for some 6 - DOF parallels structures, such as 6 - DOF parallels platforms, six - axis Stewart force/torque sensors, or 6 - DOF parallels machine tools. There are few devices, which can test those indexes at present. A calibration device which can be generalized - loaded and calibrated for 6 - DOF parallels structures, especially for the six - axis Stewart force/torque sensors or other multi - axis force sensor was researched, and this device has the merits, such as simple structures, convenient to operate, and also has a low cost.