This paper presents the method for the performance calibration of AACMM （articulated arm coordinate measuring machines） according to ASME B89.4.22 Standard. The growing use of this class of measurement equipment has...This paper presents the method for the performance calibration of AACMM （articulated arm coordinate measuring machines） according to ASME B89.4.22 Standard. The growing use of this class of measurement equipment has been accompanied by an absence of authorized laboratories to provide calibration certificates for its performance. Due to ASME B89.4.22 and VD12617-9 are nowadays the unique standards in the field of AACMM verification, IK4 Tekniker has compared both of them in order to develop internal test procedures to yield reliable performance calibration results. As a result, IK4 Tekniker has been recognized by the Spanish Accreditation Body （ENAC） in the field of AACMM calibration. Internal test procedures and uncertainty evaluation analysis have been developed as well as ENAC certificated reference test equipments have been acquired to ensure a suitable AACMM calibration process.展开更多
Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. T...Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.展开更多
A moment actuator with direct detection of forces is described.Moment frequency re- sponse and moment excitation purity asperformance criteria are proposed. Methods for the perfor- mancecalibration of the actuator are...A moment actuator with direct detection of forces is described.Moment frequency re- sponse and moment excitation purity asperformance criteria are proposed. Methods for the perfor- mancecalibration of the actuator are presented. Assessment is carried outby means of the reciprocity principle.展开更多
文摘This paper presents the method for the performance calibration of AACMM （articulated arm coordinate measuring machines） according to ASME B89.4.22 Standard. The growing use of this class of measurement equipment has been accompanied by an absence of authorized laboratories to provide calibration certificates for its performance. Due to ASME B89.4.22 and VD12617-9 are nowadays the unique standards in the field of AACMM verification, IK4 Tekniker has compared both of them in order to develop internal test procedures to yield reliable performance calibration results. As a result, IK4 Tekniker has been recognized by the Spanish Accreditation Body （ENAC） in the field of AACMM calibration. Internal test procedures and uncertainty evaluation analysis have been developed as well as ENAC certificated reference test equipments have been acquired to ensure a suitable AACMM calibration process.
基金National Hi-tech Research and Development Program of China(863 Program,No.2001AA42330).
文摘Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.
基金the Natural Science Foundation of Guangdong Pronvince of China under Grant 960736
文摘A moment actuator with direct detection of forces is described.Moment frequency re- sponse and moment excitation purity asperformance criteria are proposed. Methods for the perfor- mancecalibration of the actuator are presented. Assessment is carried outby means of the reciprocity principle.
