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

该项目的目的是减少静态测量的多轴力和扭矩传感器校准的不确定性，并首次为动态测量的这些传感器的可追溯校准提供测量程序。为了达到这些目标，通过利用具有高空间和时间分辨率的光学3D计量测量加载装置的几何形状和变形特性以及配重的位置来确定作用于待校准的多部件传感器的力和扭矩分量。对于几何形状和变形特性的测量，采用近场摄影测量原理的光学3D计量技术适用于六足加载装置中静态多轴测量的特殊要求，并且除了内部量规的读数之外还进行评估。力和扭矩的静态六轴测量的相对测量不确定度应降低5倍。此外，还将提供可跟踪动态多轴测量的基本要求。这包括定义和检查用于产生作用在多分量传感器上的多轴动态力和扭矩的适当适配器元件和重量，根据近场摄影测量原理优化应用的光学3D计量以实现高时间和空间分辨率，初步实验结合联合收割机的近场摄影测量与区域单轴速度测量使用激光扫描振动计在振动筛。基于这项工作，首次实现了用于动态测量的多维力和扭矩传感器的可追溯校准。动态六维力和扭矩测量校准不确定度的定量确定是现有技术水平的一个重大进步。

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.