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Force moment sensor

  • US 9,513,179 B2
  • Filed: 01/20/2015
  • Issued: 12/06/2016
  • Est. Priority Date: 01/20/2014
  • Status: Active Grant
First Claim
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1. A computer implemented method of determining a force and moment measurement having six degrees of freedom for an external load applied to a force moment sensor having an inner tube, a load plate and a plurality of dynamics deflection measuring devices, the method comprising the steps of:

  • applying a current to the inner tube to excite the load plate through a plurality of definable frequencies;

    extracting a plurality of resonant frequencies and associated dynamic shapes of the load plate from the plurality of definable frequencies and using the plurality of dynamics deflection measuring devices to measure deflection in six degrees of freedom;

    comparing the plurality of extracted resonant frequencies and associated dynamic shapes to a plurality of calibration shapes, each corresponding to a defined force corresponding to the six degrees of freedom; and

    determining the external loads corresponding to the six degrees of freedom forces.

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