GB/T 43199-2023Test specification for robot multi-axis force/torque sensor (English PDF)
机器人多维力/力矩传感器检测规范
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Issued by
SAMR; SAC
Level / Type
National · Recommended
Issue date
September 7, 2023
Implementation date
April 1, 2024
Scope
GB/T 43199-2023 is the English-translated version of 机器人多维力/力矩传感器检测规范.
This document specifies the test conditions for a robot multi-axis force/torque sensor and describes the methods for testing both its general and its special performance.
The document applies to the testing of the multi-axis force/torque sensors used on robots.
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Document preview — GB/T 43199-2023
National Standard of the People's Republic of China
- ICS
- 25.040.30; 17.100
- Classification
- L 15
Issued by: State Administration for Market Regulation; Standardization Administration of the PRC
Contents
- PrefaceI
- 1 Scope
- 2 Normative reference documents
- 3 Terms and Definitions
- 4 Test conditions
- 4.1 Environmental conditions
- 4.2 Calibration system
- 4.3 Testing equipment requirements
- 4.4 Preparation work before testing
- 5 General performance testing
- 5.1 Scope
- 5.2 Accuracy
- 5.3 Repeatability
- 5.4 Nonlinearity
- 5.5 Zero output
- 5.6 Drift 6 at zero point
- 5.7 Zero point temperature drift
- 5.8 Drift 6 during output
- 5.9 Output temperature drift
- 5.10 Overload capacity
- 5.11 Output response time
- 6 Special performance testing
- 6.1 Joint loading repeatability
- 6.2 Joint loading deviation
- 6.3 Measurement uncertainty
- 6.4 Elastic angular displacement
Foreword
This document complies with the provisions of GB/T 1.1-2020 "Standardization Work Guidelines Part 1: Structure and Drafting Rules of Standardization Documents" Drafting.
1 Scope
This document stipulates the detection conditions of robot multi-dimensional force/torque sensors and describes the detection methods of general performance and special performance.
This document is suitable for detection of multi-dimensional force/torque sensors used by robots.
2 Normative reference documents
The contents of the following documents constitute essential provisions of this document through normative references in the text. Among them, the dated quotations For undated referenced documents, only the version corresponding to that date applies to this document; for undated referenced documents, the latest version (including all amendments) applies to this document.
GB/T 4167-2011 Weights
GB/T 15478-2015 Pressure sensor performance test method
3 Terms and definitions
The following terms and definitions apply to this document.
3.5 The rectangular coordinate system in which the load is applied
3.1 Robot multi-axis force/torque sensor
A device installed on the end of the robot or an additional end device to measure the force and torque of the three coordinate axes.
3.2 Load
A known force or moment exerted on a sensor.
3.3 Sensor center
The origin of the coordinate system in which the sensor gives its measurement results.
3.4 Testing center
The origin of the rectangular coordinate system of the applied force/moment.
3.6 Sensor component
componentofsensor The force or moment channel of the sensor in the direction of the X, Y, and Z coordinate axes in the Cartesian coordinate system.
3.7 Multi-component loading
A loading method in which all components of the sensor are loaded simultaneously.
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This preview omits tables, figures, formulas and parts of the technical clauses. The complete document — 15 pages — is available in the English PDF.
Referenced standards
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