The design of a six-component force/moment sensor and evaluation of its uncertainty

摘要

This paper describes the development of a six-component force/moment sensor with plate beams which may be used in industry for measuring forces F_(x), F_(y) and F_(z) and moments M_(x), M_(y) and M_(z) simultaneously and the evaluation of its relative expanded uncertainty. In order to develop the six-component force/moment sensor with small capacity (F_(x) of the sensor (x-direction force sensor), F_(y) and F_(z) are each 100 N, M_(x) of the sensor (x-direction moment sensor) and M_(y) are 1 N m, M_(z) is 2 N m), the structure of such a sensing element for the six-component force/moment sensor is newly modelled, designed and manufactured. Also, methods for calibration and evaluation of the relative expanded uncertainty are newly proposed. The six-component force/moment sensor developed here is calibrated with the proposed calibration method and the relative expanded uncertainty is evaluated using the proposed uncertainty evaluation method and the calibration results. This reveals that the relative expanded uncertainty of the six-component force/moment sensor is less than 2.78%. Thus, it is thought that this six-component force/moment sensor can be usefully used in industry and that the methods for calibration and evaluation of the uncertainty can also be used for calibration and evaluation of the uncertainty of the multi-component force/moment sensor.