Traceable static and dynamic calibration of multi-component sensors for force and torque measurements

本项目的目的是减少用于静态测量的多维力和扭矩传感器的校准不确定度，并首次为用于动态测量的这些传感器的可追溯校准提供测量程序。为了达到这些目的，利用高空间和时间分辨率的光学三维测量技术，通过测量加载装置的几何和变形特性以及重量的位置来确定作用在待标定的多分量传感器上的力和力矩分量。为了测量几何和变形特性，采用近场摄影测量原理的光学三维测量技术适用于六足加载装置中静态多轴测量的特殊要求，并在内规读数之外进行了评估。静态六轴测量力和扭矩的相对测量不确定度应降低5倍。此外，还将提供可追溯的动态多轴测量的基本要求。这包括为产生作用在多分量传感器上的多轴动态力和扭矩定义和检查适当的适配元件和权重，根据近场摄影测量原理优化应用的光学三维测量以实现高时间和空间分辨率，在振动筛上使用激光扫描测振仪进行将近场摄影测量与区域单轴速度测量相结合的初步实验。在此基础上，首次实现了用于动态测量的多维力和力矩传感器的可追溯性校准。与现有技术相比，动态六维力和扭矩测量校准不确定度的定量确定是一个重大进步。

It is the aim of this project to reduce the uncertainty of calibration of multi-axis force- and torque sensors for static measurements and for the first time provide a measurement procedure for the traceable calibration of these sensors for dynamic measurements. To reach these goals the force- and torque-components acting on the multicomponent- sensor to be calibrated are determined by measuring the geometry and the deformation characteristics of the loading device and the position of the weights by means of optical 3Dmetrology with high spatial and temporal resolution. For the measurement of geometry and deformation characteristics an optical 3D-metrology technique using the principle of near-field photogrammetry is adapted to the special requirements of the static multi-axis measurement in a hexapod loading device and evaluated in addition to the readings of the internal gauges. The relative measurement uncertainty of the static six-axis measurement of force and torque shall be reduced by a factor of 5. In addition the basic requirements for traceable dynamic multi-axis measurements will be provided. This includes the definition and the examination of appropriate adapter elements and weights for the generation of multiaxis dynamic forces and torques acting on multi-component sensors, the optimization of the applied optical 3D metrology according to the principle of near-field photogrammetry to achieve high temporal and spatial resolution, preliminary experiments to combine the near-field photogrammetry with areal uniaxial velocity measurements using a laser-scanning vibrometer at the shaker. Based on this work for the first time the traceable calibration of multi-axis force and torque sensors for dynamic measurements will be possible. The quantitative determination of an uncertainty of calibration of dynamic six-axis force and torque measurement is a significant progress compared to existing state of technology.