Force moment sensor
First Claim
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.
1 Assignment
0 Petitions
Accused Products
Abstract
A force moment sensor for sensing forces and moments in a system through which forces and moments are transferred from an input member to an output member is disclosed. It includes a housing, an inner tube, a load plate, a plurality of elongate connectors and a plurality of dynamic deflection measuring devices. The housing has a base portion and an outer tube portion generally orthogonal to the base portion. The inner tube, a poled piezoceramic element, is operably connected to the base portion and spaced inwardly of the outer tube. The load plate is attached to the inner tube, spaced from the base portion and spaced from the outer tube. The plurality of elongate connectors are connected between the load plate and the outer tube portion. The plurality of dynamic deflection measuring devices are attached to the load plate for measuring dynamic flexible deflections of the load plate.
4 Citations
12 Claims
-
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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
Specification