CN108151945A - A kind of orthogonal sextuple big load sensor calibration apparatus and its method of work - Google Patents
A kind of orthogonal sextuple big load sensor calibration apparatus and its method of work Download PDFInfo
- Publication number
- CN108151945A CN108151945A CN201810069067.9A CN201810069067A CN108151945A CN 108151945 A CN108151945 A CN 108151945A CN 201810069067 A CN201810069067 A CN 201810069067A CN 108151945 A CN108151945 A CN 108151945A
- Authority
- CN
- China
- Prior art keywords
- axis
- loading
- electric cylinder
- power
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of sextuple load transducer caliberating devices and its method of work, described device to include rack, electric cylinder, loading blocks, load plate and the scroll chuck that can feel relieved；The electric cylinder is the big load electric cylinder with one-dimensional force snesor；The loading blocks are cut with scissors by gapless spherical shape to be connected with six electric cylinders, and six electric cylinders are cut with scissors by gapless spherical shape to be connected with portal frame, one group of six electric cylinder each twos, respectively positioned at the right side of loading blocks, upside and rear side；Plane where the axis of every group of electric cylinder is mutually orthogonal, and is overlapped with the geometric center of loading blocks.The present invention is effectively reduced the interference between each loading direction of center is loaded, is improved loading accuracy using the power source of multiple pairwise orthogonals.Normal force source side of the present invention cross interferance is small, it can be achieved that the loading of six-dimensional space large-load force.The present invention carries out clamped one time using closed loop force-feedback control system to being calibrated sensor, you can realizes the loading of the arbitrarily sextuple big load in space.
Description
Technical field
The present invention relates to sensor and its measurement and control area, more particularly to a kind of sextuple big load sensor calibration apparatus.
Background technology
Sextuple big load sensor is widely used in the fields such as heavy industry and aerospace, such as：Huge over-loading operation
The measurement etc. of device, thrust-augmented rocket thrust.But the not perfect serious obstruction of sextuple big load sensor calibration apparatus is sextuple big
The development of load transducer.Existing 6 DOF load transducer caliberating device majority does not adapt to big load loading.To meet six
The calibration demand of big load sensor is tieed up, Chinese patent CN101464201A proposes a kind of six-dimension heavy force sensor calibration dress
It puts, although being loaded with multiple power sources, the loading of sextuple big load must be realized by the position in mobile loading force source,
The movement in power source can equally cause calibrated error.A kind of six-dimension force sensor calibration dress that Chinese patent CN104236794A is proposed
It puts, can realize that clamped one time continuously loads, but its each power source is non-orthogonal, cause between each power source there are larger interference,
Bigger especially is interfered in the case of big load loading, influences stated accuracy.Therefore, there is an urgent need for propose that a kind of clamped one time space is arbitrary
Sextuple big load continuously loads, while the caliberating device of sextuple big load mutually orthogonal between power source loading.
Invention content
To solve the above problem of the existing technology, the present invention will design a kind of arbitrary sextuple big load in clamped one time space
Lotus continuously loads, while the caliberating device and its method of work of sextuple big load mutually orthogonal between power source loading.
To achieve these goals, technical scheme is as follows：A kind of 6 DOF load transducer caliberating device, including
Rack, electric cylinder, loading blocks, load plate, expansion mechanism, sensor base and the scroll chuck that can feel relieved；The electric cylinder is
Big load electric cylinder with one-dimensional force snesor；
The rack is made of pedestal and portal frame two parts, and the portal frame is three crossbeams, four column form, is led to
The bottom for crossing four columns is fixed on pedestal, wherein a root post is located on the left of pedestal, a root post is located at pedestal rear side, two
Root post is listed in by front-rear direction on the right side of pedestal, and the top of right side two root posts is connected with a tail trimmer, in tail trimmer
It is connected at the top of the column that portion passes through a root long crossbeam and left side, the column top that the middle part of long beam passes through a middle cross beam and rear side
Portion is connected；
The loading blocks are cut with scissors by gapless spherical shape to be connected with six electric cylinders, and six electric cylinders pass through gapless spherical shape
Hinge is connected with portal frame, described six one group of electric cylinder each twos, respectively positioned at the right side of loading blocks, upside and rear side；Often
Plane where the axis of group electric cylinder is mutually orthogonal, and is overlapped with the geometric center of loading blocks；Each electric cylinder is by controlling electricity
Cable is connected through multi-axis controller with host computer；Pacify an one-dimensional force snesor on each electric cylinder, one-dimensional force snesor passes through
Data line is connected with host computer；The host computer includes man-machine interface and industrial personal computer；
The scroll chuck of feeling relieved is fixed on pedestal, positioned at the lower section of loading blocks and with the geometric center of loading blocks
On a vertical line；There is positioning groove in the loading blocks；The load plate is embedded in positioning groove；The swelling
Mechanism is between pedestal and load plate, for by load plate swelling；
The sensor base, which is fixed on, to feel relieved on scroll chuck, for carrying out locating clip to being calibrated sensor
Tightly.
Further, the host computer, multi-axis controller, six electric cylinders and six one-dimensional force snesors are formed electrical
Control system.
Further, the expansion mechanism includes lower expanding block, upper expanding block and swelling screw, the lower expanding block
It is wedge block with upper expanding block, is connected by swelling screw.
A kind of method of work of 6 DOF load transducer caliberating device, includes the following steps：
A, installation is calibrated sensor
It will be calibrated in positioning groove of the sensor below the loading blocks, and pass through load plate and expansion mechanism is swollen
Tightly；
B, it loads
When loading x-axis power Fx, x-axis to two electric cylinder Q1 and Q2 apply the identical power in the same direction of size；Load y-axis power Fy
When, y-axis to two electric cylinder Q3 and Q4 apply the identical power in the same direction of size；Load z-axis power Fz when, z-axis to two it is electronic
Cylinder Q5 and Q6 applies the identical power in the same direction of size；When loading is around z-axis torque Mz, x-axis to two electric cylinders Q1 and Q2 apply it is big
Small power identical, direction is opposite；Loading around x-axis torque Mx when, y-axis to two electric cylinder Q3 and Q4 apply size it is identical, side
To opposite power, direction is opposite；Loading around y-axis torque My when, z-axis to two electric cylinder Q5 and Q6 apply size it is identical, side
To opposite power；
C, it demarcates
Carry out the calibration of x-axis power：Fx is loaded in x-axis0Proof force, with the loading of electric cylinder Q1 and Q2, electric cylinder Q1 and
The size of power is fed back to host computer by the one-dimensional force snesor of Q2 ends, and host computer is by the numerical value phase of two one-dimensional force snesors
Add, obtain being actually loaded to the size Fx for being calibrated the power on sensor1, multi-axis controller is according to | Fx0-Fx1| value adjustment electricity
Dynamic cylinder Q1's and Q2 is flexible, until | Fx0-Fx1| until less than or equal to assigned error ε, record the output electricity of one-dimensional force snesor
Pressure；Change proof force Fx0Value, repeat above operation, until the power in x-axis direction range ability load, fitting x-axis power
Calibration curve, the calibration of x-axis power are completed；
According to the same steps that x-axis power is demarcated, to y-axis power, z-axis power, x-axis torque, y-axis torque and z-axis torque into rower
It is fixed.
The remarkable result of the present invention is as follows：
1st, the present invention is effectively reduced using the power source of multiple pairwise orthogonals between each loading direction of center is loaded
Interference, improve loading accuracy.
2nd, normal force source side of the present invention cross interferance is small, is easy to implement the loading of big load, it can be achieved that the big load of six-dimensional space
The loading of load forces.
3rd, the present invention realizes the accurate automatic loading of calibration power, to being calibrated sensing using closed loop force-feedback control system
Device carries out clamped one time, you can realizes the loading of the arbitrarily sextuple big load in space.
Description of the drawings
The shared attached drawing six of the present invention is opened, wherein：
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is is calibrated clamp of sensor part-structure schematic diagram.
Fig. 3 is the fundamental diagram of wedge-shaped expansion mechanism.
Fig. 4 is wedge-shaped expansion mechanism, loading blocks, the assembly method of load plate.
Fig. 5 is the space layout schematic diagram of six electric cylinders.
Fig. 6 is closed loop force-feedback control system principle diagram.
In figure：1- pedestals, 2- racks, 3- can feel relieved scroll chuck, 4- electric cylinders, 5- expansion mechanisms, 6- one-dimensionals power sensing
Device, 7- gaplesss spherical shape hinge, 8- loading blocks, 9- are calibrated sensor, 10- sensor bases, expanding block under 11-, the upper swellings of 12-
Block, 13- swelling screws, 14- load plates.
Specific embodiment
Apparatus of the present invention are further described below in conjunction with the accompanying drawings.
As shown in Figs. 1-5, a kind of sextuple load transducer caliberating device, including 2, six band one-dimensional force snesors 6 of rack
Electric cylinder 4, loading blocks 8, load plate 14, expansion mechanism 5, sensor base 10, can feel relieved scroll chuck 3 and electrical control
System；The rack 2 is made of pedestal 1 and rigid frame two parts, and the rigid frame is three crossbeams, four column form,
It is fixed on pedestal 1 by the bottom of four columns, wherein after a root post is located at 1 left side of pedestal, a root post is located at pedestal 1
Side, two root posts are listed in 1 right side of pedestal by front-rear direction, and the top of right side two root posts is connected with a tail trimmer, hyphen
It is connected at the top of the column that the middle part of beam passes through a root long crossbeam and left side, the middle part of long beam passes through a middle cross beam and rear side
It is connected at the top of column；The loading blocks 8 are connected by six electric cylinders 4 with rigid frame, described six electric cylinders 4 every two
A one group, respectively positioned at the right side of loading blocks 8, upside and rear side；Plane where the axis of every group of electric cylinder 4 is mutually orthogonal, and
It is overlapped with the geometric center of loading blocks 8；Each electric cylinder 4 is by controlling cable to be connected through multi-axis controller with host computer；Each
All pacify an one-dimensional force snesor 6 on electric cylinder 4, one-dimensional force snesor 6 is connected by data line with host computer；Described is upper
Machine includes man-machine interface and industrial personal computer；The scroll chuck 3 of feeling relieved is fixed on pedestal 1, positioned at the lower section of loading blocks 8 and
Geometric center with loading blocks 8 is on a vertical line；There is positioning groove in the loading blocks 8, load plate 14 is embedded in positioning
In groove and pass through two expansion mechanisms 5 and clamp；The sensor base 10 is fixed on the three-jaw that can feel relieved by clamping mode
On chuck 3, for carrying out positioning clamping to being calibrated sensor 9；The electric control system includes man-machine interface, industry control
Machine, multi-axis controller, six electric cylinders 4 and six one-dimensional force snesors 6.4 both ends of electric cylinder pass through gapless spherical shape
Hinge 7 is connect respectively with loading blocks 8 and rigid frame.
The method for positioning and clamping for being calibrated sensor 9 is as follows：Fig. 2 for loading blocks 8, load plate 14, be calibrated sensor 9 with
And the location arrangements mode of sensor base 10, it is calibrated sensor 9 and passes through screw and 10 phase of load plate 14 and sensor base
Even.And there are the grooves to match with load plate 14 in loading blocks 8.During assembling, load plate 14 is assembled in the recessed of loading blocks 8
Positioning is completed in slot；Fig. 3 is the clamping schematic diagram of load plate 14, is embedded in the groove of loading blocks 8 in load plate 14 and completes positioning
Afterwards, it is clamped by the tension force of expansion mechanism 5；Fig. 4 is the structure diagram of expansion mechanism 5, by rotating swelling
The transverse shifting of the lower expanding block 11 of the control of screw 13, so as to control the longitudinal movement of upper expanding block 12, completes the blessing of tension force；
During assembling, load plate 14 is assembled and completes to position in the groove of loading blocks 8, ensure in load plate 14 after the positioning of plane, to lead to
It crosses the scroll chuck 3 that can feel relieved and clamps sensor base 10.Then the screw on expansion mechanism 5 is tightened, is added for 5 pairs by expansion mechanism
Support plate 14 is clamped, and the positioning for completing sensor clamps work.
The load mode of each dimension power and torque is as shown in figure 5, six one group of 4 each twos of electric cylinder, respectively positioned at loading blocks 8
Right side, upside and rear side；Plane where the axis of every group of electric cylinder 4 is mutually orthogonal, and with the geometric center weight of loading blocks 8
It closes.Six electric cylinders 4 are connected by gapless spherical shape hinge 7 with loading blocks 8.The applying method of loading force is：X-axis to two electricity
When dynamic cylinder Q1, Q2 apply size identical power in the same direction, the loading of x direction force Fx can be completed, similarly, y-axis to two electric cylinders
When Q3, Q4 apply size identical power in the same direction, the loading of y direction force Fy can be completed, z-axis to two electric cylinders Q5, Q6 apply
During the identical power in the same direction of size, the loading of z direction force Fz can be completed；When the power size of two electric cylinders 4 of Q1, Q2 is identical, direction
When opposite, then loadings of the z to torque Mz can be completed.When the power size of two electric cylinders 4 of Q3, Q4 is identical, when direction is opposite, then
It can complete loadings of the x to torque Mx.When the power size of two electric cylinders 4 of Q5, Q6 is identical, when direction is opposite, then x can be completed
Loading to torque My.
Electric control system is as shown in fig. 6, the electric control system includes man-machine interface, industrial personal computer, multijoint control
Device, six electric cylinders 4 and six one-dimensional force snesors 6.Wherein man-machine interface and industrial personal computer monitor each electricity as host computer, control
Dynamic cylinder 4 loads force signal.When carrying out power loading work, one-dimensional force snesor 6 feeds back to each 4 loading force size of electric cylinder more
Axis controller and host computer, host computer compare feedback signal with that need to load signal, and the difference passed through after comparison is controlled
System, if the two, there are difference, feedback signal is passed to multi-axis controller, multi-axis controller control 4 servo of electric cylinder by host computer
Motor rotates, until difference is zero, that is, closed loop force-feedback control system is formed, so as to obtain accurate loading force.
The present invention is not limited to the present embodiment, any equivalent concepts in the technical scope of present disclosure or changes
Become, be classified as protection scope of the present invention.
Claims (4)
1. a kind of 6 DOF load transducer caliberating device, it is characterised in that：Including rack (2), electric cylinder (4), loading blocks (8),
Load plate (14), expansion mechanism (5), sensor base (10) and the scroll chuck (3) that can feel relieved；The electric cylinder (4) is band
The big load electric cylinder of one-dimensional force snesor (6)；
The rack (2) is made of pedestal (1) and portal frame two parts, and the portal frame is three crossbeams, four column form,
It is fixed on pedestal (1) by the bottom of four columns, wherein a root post is located on the left of pedestal (1), a root post is located at base
Seat (1) rear side, two root posts are listed in by front-rear direction on the right side of pedestal (1), the top of right side two root posts and a tail trimmer
It is connected, by being connected at the top of a root long crossbeam and the column in left side, the middle part of long beam passes through horizontal stroke in one at the middle part of tail trimmer
It is connected at the top of beam and the column of rear side；
The loading blocks (8) are connected by gapless spherical shape hinge (7) with six electric cylinders (4), and six electric cylinders (4) pass through nothing
Gap spherical shape hinge (7) is connected with portal frame, described six one group of electric cylinder (4) each twos, respectively positioned at the right side of loading blocks (8)
Side, upside and rear side；Plane where the axis of every group of electric cylinder (4) is mutually orthogonal, and with the geometric center weight of loading blocks (8)
It closes；Each electric cylinder (4) is by controlling cable to be connected through multi-axis controller with host computer；Pacify one on each electric cylinder (4)
One-dimensional force snesor (6), one-dimensional force snesor (6) are connected by data line with host computer；The host computer includes man-machine boundary
Face and industrial personal computer；
The scroll chuck of feeling relieved (3) is fixed on pedestal (1), positioned at the lower section of loading blocks (8) and with loading blocks (8)
Geometric center is on a vertical line；There is positioning groove in the loading blocks (8)；The load plate (14) is recessed embedded in positioning
In slot；The expansion mechanism (5) is between pedestal (1) and load plate (14), for by load plate (14) swelling；
The sensor base (10) is fixed on and can feel relieved on scroll chuck (3), for determining being calibrated sensor (9)
Position clamps.
2. a kind of sextuple load transducer caliberating device according to claim 1, it is characterised in that：The host computer,
Multi-axis controller, six electric cylinders (4) and six one-dimensional force snesors (6) form electric control system.
3. a kind of sextuple load transducer caliberating device according to claim 1, it is characterised in that：The expansion mechanism
(5) including lower expanding block (11), upper expanding block (12) and swelling screw (13), the lower expanding block (11) and upper expanding block
(12) it is wedge block, is connected by swelling screw (13).
4. a kind of method of work of 6 DOF load transducer caliberating device, it is characterised in that：Include the following steps：
A, installation is calibrated sensor (9)
Sensor (9) will be calibrated in the positioning groove below loading blocks (8), and pass through load plate (14) and swelling machine
Structure (5) swelling；
B, it loads
When loading x-axis power Fx, x-axis to two electric cylinder Q1 and Q2 apply the identical power in the same direction of size；When loading y-axis power Fy, y
Two axial electric cylinder Q3 and Q4 apply the identical power in the same direction of size；Load z-axis power Fz when, z-axis to two electric cylinder Q5
The in the same direction power identical with Q6 applications size；Loading around z-axis torque Mz when, x-axis to two electric cylinders Q1 and Q2 apply size phase
Power same, direction is opposite；When loading is around x-axis torque Mx, y-axis to two electric cylinder Q3 and Q4 apply that size is identical, direction phase
Anti- power, direction are opposite；When loading is around y-axis torque My, z-axis to two electric cylinder Q5 and Q6 apply that size is identical, direction phase
Anti- power；
C, it demarcates
Carry out the calibration of x-axis power：Fx is loaded in x-axis0Proof force, with the loading of electric cylinder Q1 and Q2, electric cylinder Q1 and Q2 ends
One-dimensional force snesor (6) size of power is fed back into host computer, host computer is by the numerical value phase of two one-dimensional force snesors (6)
Add, obtain being actually loaded to the size Fx for the power being calibrated on sensor (9)1, multi-axis controller is according to | Fx0-Fx1| value tune
Whole electric cylinder Q1's and Q2 is flexible, until | Fx0-Fx1| until less than or equal to assigned error ε, record one-dimensional force snesor (6)
Output voltage；Change proof force Fx0Value, repeat above operation, until the power in x-axis direction range ability has been loaded,
X-axis power calibration curve is fitted, the calibration of x-axis power is completed；
According to the same steps that x-axis power is demarcated, y-axis power, z-axis power, x-axis torque, y-axis torque and z-axis torque are demarcated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810069067.9A CN108151945A (en) | 2018-01-24 | 2018-01-24 | A kind of orthogonal sextuple big load sensor calibration apparatus and its method of work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810069067.9A CN108151945A (en) | 2018-01-24 | 2018-01-24 | A kind of orthogonal sextuple big load sensor calibration apparatus and its method of work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108151945A true CN108151945A (en) | 2018-06-12 |
Family
ID=62458962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810069067.9A Pending CN108151945A (en) | 2018-01-24 | 2018-01-24 | A kind of orthogonal sextuple big load sensor calibration apparatus and its method of work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108151945A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111351615A (en) * | 2020-03-25 | 2020-06-30 | 东南大学 | High-precision small-sized on-orbit calibration device and method for spatial station mechanical arm six-dimensional force sensor |
| CN113091981A (en) * | 2021-03-16 | 2021-07-09 | 南京航空航天大学 | Sensor with pretightening force and measuring method |
| CN114705343A (en) * | 2022-04-01 | 2022-07-05 | 中国科学院合肥物质科学研究院 | double-E-shaped-membrane six-dimensional force sensor automatic calibration device and method applicable to large range and size |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104280187A (en) * | 2014-11-03 | 2015-01-14 | 大连交通大学 | Six-dimensional force sensor calibration device |
-
2018
- 2018-01-24 CN CN201810069067.9A patent/CN108151945A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104280187A (en) * | 2014-11-03 | 2015-01-14 | 大连交通大学 | Six-dimensional force sensor calibration device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111351615A (en) * | 2020-03-25 | 2020-06-30 | 东南大学 | High-precision small-sized on-orbit calibration device and method for spatial station mechanical arm six-dimensional force sensor |
| CN113091981A (en) * | 2021-03-16 | 2021-07-09 | 南京航空航天大学 | Sensor with pretightening force and measuring method |
| CN114705343A (en) * | 2022-04-01 | 2022-07-05 | 中国科学院合肥物质科学研究院 | double-E-shaped-membrane six-dimensional force sensor automatic calibration device and method applicable to large range and size |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108151945A (en) | A kind of orthogonal sextuple big load sensor calibration apparatus and its method of work | |
| CN104280187A (en) | Six-dimensional force sensor calibration device | |
| US9121799B2 (en) | Multi-axle joint shifting loading apparatus for processing center and detection method for static stiffness distribution | |
| Wang et al. | Optimal design and experiment research of a fully pre-stressed six-axis force/torque sensor | |
| CN104048791B (en) | A kind of diesis beam type six-dimensional force of low retinoic acid syndrome and torque sensor | |
| Wan et al. | Investigation of influence of fixture layout on dynamic response of thin-wall multi-framed work-piece in machining | |
| Xiangsheng et al. | Effects of machine tool configuration on its dynamics based on orthogonal experiment method | |
| CN111094922B (en) | Force sensor, torque sensor, force sensing sensor, fingertip force sensor, and method for manufacturing same | |
| CN103528726A (en) | Cross-beam-type six-dimensional force sensor with overload protection function | |
| US20150253227A1 (en) | Testing apparatus | |
| CN104006920A (en) | Self-balancing type space six-dimensional force/moment loading device | |
| US20130269449A1 (en) | Load Cell Including Excess Load Preventing Mechanism | |
| CN104537172B (en) | A kind of method by optimizing Fixture Layout control hole group complex position degree error | |
| Wang et al. | A method for designing control parameters of a 3-DOF parallel tool head | |
| Cai et al. | Rigid-compliant hybrid variation modeling of sheet metal assembly with 3D generic free surface | |
| Simas et al. | Geometric error effects on manipulators' positioning precision: a general analysis and evaluation method | |
| Song et al. | Dynamic characteristic prediction of a 5-DOF hybrid machine tool by using scale model considering the geometric distortion of bearings | |
| Yang et al. | Elastostatic Stiffness Analysis of a 2 P UR-P SR Overconstrained Parallel Mechanism | |
| Bhatt et al. | Optimizing part placement for improving accuracy of robot-based additive manufacturing | |
| Wang et al. | Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy | |
| Marlow et al. | Motion/force transmission analysis of planar parallel mechanisms with closed-loop subchains | |
| CN216815843U (en) | Comparison type multi-component force sensor calibration device | |
| Wan et al. | Optimization of fixture layout based on error amplification factors | |
| Harada et al. | Internal and External Forces Measurement of Planar 3‐DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors | |
| Fuwen | Location issues of thin shell parts in the reconfigurable fixture for trimming operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180612 |