CN1442682A - Multi-dimensional force sensor dynamic experiment table and method thereof - Google Patents
Multi-dimensional force sensor dynamic experiment table and method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of amplitude-frequency and phase-frequency transmission characteristic testing and related dynamic performance parameter measurement of a multi-dimensional force sensor. A multi-dimensional force sensor dynamic experiment table is composed of a rack and a plurality of electromagnetic force generators, wherein each electromagnetic force generator comprises a fixed assembly and a movable assembly. The method is characterized in that a numerical control system outputs a plurality of sine wave current signals with controllable amplitude and frequency respectively, a plurality of groups of excitation coils are controlled respectively, electromagnetic excitation forces or electromagnetic excitation moments in a plurality of directions are generated and applied to a sensor to be tested, and the dynamic performance test of the sensor is realized. Compared with a step response experiment method and an impulse response experiment method, the transmission characteristics, namely amplitude-frequency characteristics and phase-frequency characteristics, of the force sensor in the whole using frequency band range can be obtained. The experiment table is used for testing the dynamic transmission characteristics of the multi-dimensional force sensor and calibrating the dynamic performance parameters of the multi-dimensional force sensor.
Description
Technical field: the present invention relates to the sensor test field, refer more particularly to multi-dimension force sensor amplitude-frequency, test of phase frequency dynamic transmission characteristics and relevant dynamic performance parameter, as: technical fields such as damping ratio, dynamic rate, natural frequency measurement.
Background technology: at present, force transducer test or calibration experiment mainly are to make static demarcating and test experiments.Though the minority document material is mentioned the dynamic test of force transducer, only be confined to the experiment of step response method and impulse response method, can only be in the dynamic perfromance of time domain build-in test multi-dimension force sensor.As: " the experiment modeling of sextuple wrist force sensor step response " (publishes in " robot " VOL 22, No.4,2000.7, P251 ∽ P256) proposes on the wrist force sensor calibrating table of Hefei Intelligent Machinery Inst., Chinese Academy of Scineces's development, give the dynamic experiment that is applied the step excitation signal by force cell by cutting off the rope that hangs counterweight.As everyone knows, step response method and impulse response method have very big limitation when the dynamic perfromance of a system of test.This limitation shows as:
1) can only be in time domain the output of survey sensor;
2) be difficult to obtain the transport property of a system in whole service band scope;
3) relatively difficulty, measuring accuracy are low etc. to obtain surging force on the complete meaning or step force.
The frequency response rule does not have above-mentioned limitation, and when dynamic perfromance of testing a system or the identification of realization system model, optimal method is the dynamic perfromance at the frequency domain built-in test system.
Up to now, frequency response method is difficult to be in the main cause that obtains aspect the force transducer dynamic characteristic test to use: obtain amplitude stabilization, be easy to relatively difficulty of adjustment, frequency continually varying exciting force, promptly lack the experimental assembly based on frequency response method test force sensor dynamic characteristic, the domestic and foreign literature result for retrieval has also illustrated this point.
Retrieve the domestic patent relevant and have 4 with the multi-dimension force sensor experimental facilities:
1) patent 94113375.3 proposes to load to test specimen by charger, until the test specimen fracture, applies the step force excitation for test specimen (force transducer);
2) load mode of patent 94246366.8 further clear and definite patents 94113375.3 promptly loads by hydraulic system.
Above-mentioned two patented technology core contents all are to use step response method test force sensor dynamic characteristic, are different from the frequency response method test force sensor dynamic characteristic that the present invention proposes;
3) patent 99108264.8 only proposes force transducer dynamic simulation thinking, be different from also that the application proposes based on frequency response method force transducer dynamic test (demarcation) experiment table material object;
4) the five-dimension force force plate/platform of patent 01262480 proposition is the static dynamometry experiment table of multi-dimension force sensor, and its load mode is to realize by increasing, subtract counterweight, also is different from the electric magnetization power load mode of this experiment table.
Retrieve the domestic literature relevant and have 4 with the multi-dimension force sensor experiment content:
1) " five-dimension force force plate/platforms " such as Tang Yi, Ge Yunjian, Sun Yining have set forth under the static load condition, realize the demarcation of five-dimensional force sensor;
2) do that the side builds, Liu Zhengshi " a kind of sextuple wrist force sensor dynamic Response Study " to the effect that at sextuple wrist force sensor, by the mechanical model of sensor, study its dynamic response characteristic from point of theory;
3) Chen Xiongbiao, Yuan Zhejun, Yao Yingxue " research is demarcated with sextuple wrist force sensor by robot ", this article has been analyzed robot and has regularly been formed reasons of error with sextuple wrist force sensor at quiet station symbol, and proposes some concrete innovative approachs;
4) " the experiment modelings of sextuple wrist force sensor step response " propositions such as Xu Kejun, Zhu Zhineng, Li Cheng are on multi-dimension force sensor static demarcating platform, applied step excitation power by cutting off the rope that hangs counterweight by force cell, realize the multi-dimension force sensor dynamic test, though this method is simple, less demanding to experimental facilities, has above-mentioned many deficiencies.
In sum, domestic patent announcement and relevant document material from having found also do not relate to know-why proposed by the invention and experimental provision.
Relate to the research situation of patent of the present invention aspect abroad, entrust Anhui Province research institute of scientific-technical information to look into newly." novelty assessment report " that this showed shows, external research aspect the multi-dimension force sensor dynamic perfromance is mainly reflected in three aspects:
1) research of the own dynamic perfromance theoretical side of sensor is as Xu Kejun; Yin Ming; ZhangYing, A kind of dynamic decoupling method for wrist force sensor, Journal of AppliedScience Vol.17, No.1P39 ∽ P44, this article has been inquired into multi-dimension force sensor Dynamic Coupling problem from sensor dynamic mechanical model;
2) multi-dimension force sensor is in the calibration experiment research that applies under the static load condition, as Tsujii Masaharu; Nara Atsushi; Koshimizu Fumihiko.Method for Calibrating Calibration forHardness-Testing machine.PUB:No.2000-019089[JP2000019089 A] .Published:January21,2000 (20000121), this patent proposes in force transducer static demarcating process, uniformly-spaced set 10 calibration points, load capacity that is applied in by each calibration point force transducer and the relation between the force transducer output quantity obtain the transducer calibration relational expression;
3) by the dynamic perfromance of laboratory facilities research multi-dimension force sensor, also only be confined to step response experimental method and impulse response experimental method, the multi-dimension force sensor experiment table that this patent proposes also do not occur based on the frequency response experimental method.
Above-mentioned situation appears in the research of multi-dimension force sensor dynamic experiment platform, mainly contains the following reason:
1) multi-dimension force sensor is mainly used on the intelligent robot, and a large amount of at present industrial robots that use are owing to the less use multi-dimension force sensor of the reason of cost;
2) time ratio of intelligent robot appearance is shorter;
3) speed of each joint motions of intelligent robot at present is slow, and is less demanding to the multi-dimension force sensor dynamic property that is contained on each joint part.
Therefore, raising along with the Research on Intelligent Robots level, will inevitably relate to the problem of studying the multi-dimension force sensor dynamic perfromance comprehensively, deeply, meticulously, the starting point based on frequency response experimental method multi-dimension force sensor dynamic experiment platform that the present invention proposes is the research preparing experiment equipment for multi-dimension force sensor dynamic perfromance in future.
Summary of the invention: in order to overcome step response experimental method and impulse response experimental method in the deficiency aspect multi-dimension force sensor dynamic performance testing, the demarcation, promptly can not obtain the transport property of force transducer in whole service band scope, main fingerbreadth is characteristic and phase-frequency characteristic frequently, and measuring accuracy is low, obtains relatively difficulty etc. of surging force on the complete meaning or step force.The present invention seeks to propose a kind of multi-dimension force sensor dynamic experiment platform and method, this experiment table and method are used to test the multi-dimension force sensor dynamic transmission characteristics, demarcate the multi-dimension force sensor dynamic performance parameter.
Technical scheme of the present invention is: a kind of multi-dimension force sensor dynamic experiment platform that is used for is characterized in that: this method comprises stand (1), electromagnet (2) A, electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling (5), tested sensor (6).
Wherein stand (1) and electromagnet (2) A constitute the electromagnetic force generator fixation kit; Electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling (5) constitute the mobile component of electromagnetic force generator.
Stand (1) is connected by nut with electromagnet (2) A, the end face of electromagnet (2) B and guide rod (4) A is rigidly connected, guide rod (4) A slides in the pilot hole of linear roller bearing (3) A, linear roller bearing (3) B, for mobile component provides linear movement guide, be connected with guide rod (4) A by shaft coupling (5) again after the locking of guide rod (4) B and tested sensor (6).
Have at least one to feed the alternation sine-wave current among described electromagnet (2) A and electromagnet (2) B, leave 0.001～10 mm clearance between electromagnet (2) A and electromagnet (2) B.
Described a kind of multi-dimension force sensor dynamic experiment platform, electromagnet (2) A, electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling (5) can be made with metal material, also can make with nonmetallic materials.
Described linear roller bearing (3) A, linear roller bearing (3) B also can use air pressure hydrostatic slideway or hydraulic pressure hydrostatic slideway or dynamic pressure guide rail or straight-line rolling guide pin bushing to substitute.
A kind of method that is used for multi-dimension force sensor dynamic experiment platform, adopt the frequency response experimental method, make multiple dynamic experiment or dynamic calibration at multi-dimension force sensor, multi-dimension force sensor dynamic experiment platform realizes giving tested sensor to apply alternation exciting force and alternation excitation moment with counterweight or other static load augmentor in the alternative multi-dimension force sensor static laboratory bench of a plurality of electromagnetic force generators.
Described electromagnetic force generator is by stand (1), electromagnet (2) A, electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A and guide rod (4) B, shaft coupling (5) is formed, electromagnetic force generator is connected with tested sensor (6) by guide rod (4) B, when feeding frequency, electromagnet (2) A of electromagnetic force generator changes continuously, during alternation sine-wave current that amplitude is adjustable, electromagnetic force generator just produces frequency can be changed continuously, the continuously adjustable electric magnetization masterpiece of amplitude is used for tested sensor (6), realizes sensor (6) is done various dynamic experiments.
When electromagnet (2) A fed the alternation sine-wave current, electromagnet (2) B was permanent magnet or the electromagnet that feeds steady current, can produce alternation exciting force and alternation excitation moment equally.
When electromagnet (2) B fed the alternation sine-wave current, electromagnet (2) A was permanent magnet or the electromagnet that feeds steady current, can produce alternation exciting force and alternation excitation moment too.
When the coil winding-direction of electromagnet (2) A, electromagnet (2) B is opposite, after the series connection of two coils, feed the alternation sine-wave current, also can produce alternation exciting force and alternation excitation moment.
Dynamic test comprises: test multi-dimension force sensor dynamic transmission characteristics, promptly amplitude versus frequency characte and phase-frequency characteristic are demarcated the force transducer dynamic performance parameter, i.e. natural frequency, cutoff frequency, damping ratio, dynamic rate, multi-dimension force sensor Dynamic Coupling matrix coefficient.
Dynamic test can at most only need two electromagnetic force generators by the position of conversion electromagnetic force generator, just can produce alternation exciting force F respectively
X, F
Y, F
ZWith alternation excitation moment M
X, M
Y, M
ZWhen measuring the Dynamic Coupling matrix coefficient of six-dimension force sensor, then need a plurality of electromagnetic force generators.The number by increasing, subtract electromagnetic force generator and the position of conversion electromagnetic force generator can manufacture one dimension, two dimension, and multi-dimension force sensor dynamic experiment platform.
Alternating force electromagnetic generator (7) B, alternating force electromagnetic generator (7) A, alternating force electromagnetic generator (7) E produce X, Y, three direction power of Z electric magnetization power F respectively
X, F
Y, F
ZAlternating force electromagnetic generator (7) H and alternating force electromagnetic generator (7) I, alternating force electromagnetic generator (7) F and alternating force electromagnetic generator (7) G, alternating force electromagnetic generator (7) C and alternating force electromagnetic generator (7) D produce three electric magnetization moment M respectively
X, M
Y, M
ZDigital control system exports six tunnel frequencies and the controlled sine-wave current signal of amplitude is added to alternating force electromagnetic generator (7) B, alternating force electromagnetic generator (7) A, alternating force electromagnetic generator (7) E, alternating force electromagnetic generator (7) H respectively, alternating force electromagnetic generator (7) I, alternating force electromagnetic generator (7) F and alternating force electromagnetic generator (7) G, alternating force electromagnetic generator (7) C, alternating force electromagnetic generator (7) D make it produce frequency and the six tunnel controlled respectively electric magnetization power F by sinusoidal wave rule variation of amplitude
X, F
Y, F
Z, and electric magnetization moment M
X, M
Y, M
Z
Electric magnetization power F
X, F
Y, F
ZWith electric magnetization moment M
X, M
Y, M
ZBe added on the tested sensor, realize that frequency of utilization response experimental method carries out dynamic experiment and test to tested sensor.Wherein, the version of alternating force electromagnetic generator (7) A, alternating force electromagnetic generator (7) B, alternating force electromagnetic generator (7) E, alternating force electromagnetic generator (7) H and alternating force electromagnetic generator (7) I, alternating force electromagnetic generator (7) F and alternating force electromagnetic generator (7) G, alternating electromagnetism forcer (7) C and alternating force electromagnetic generator (7) D is just the same, and concrete size may need slightly to change according to electric magnetization power, electric magnetization moment size.
The alternating electromagnetism forcer is made up of stand (1), solenoid (2) A, solenoid (2) B, linear bearing (3) A, linear bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling 5, guide rod (4) B links to each other with tested sensor (6), and solenoid (2) A links to each other with the stand (1) of experiment table.
A feeds sinusoidal wave exchange current when solenoid (2), solenoid (2) B feeds the Constant Direct Current power supply and produces fixed magnetic field simultaneously, or solenoid (2) B produces fixed magnetic field with permanent magnet, and then solenoid (2) B will be subjected to the effect of periodic electromagnetism exciting force.Electric magnetization power acts on tested sensor (6) by guide rod (4) A, shaft coupling 5, guide rod (4) B.
Produce fixed magnetic field when solenoid (2) A feeds the Constant Direct Current power supply, or solenoid (2) A produces fixed magnetic field with permanent magnet, solenoid (2) B feeds sinusoidal wave exchange current, and then the course of work is identical.
When the coil rotation direction of solenoid (2) A and solenoid (2) B is opposite, feed the sinusoidal wave exchange current in same road after the series connection, then the course of work is also identical.
Beneficial effect: the invention has the beneficial effects as follows: by one or more alternating force electromagnetic generators, produce changeable frequency, controlled electric magnetization power and the electric magnetization moment of amplitude, realize tested sensor dynamic test.
Description of drawings: the invention will be further described below in conjunction with accompanying drawing and example:
Fig. 1 is rectangular coordinate system in space figure.
Fig. 2 is the electric magnetization power oscillogram that the alternating electromagnetism forcer produces.
Fig. 3 is an alternating electromagnetic force generator architecture sectional view.
Fig. 4 is that tested sensor is subjected to F
X, F
YForce diagram.
Fig. 5 is that tested sensor is subjected to M
ZThe opplied moment synoptic diagram.
Fig. 6 is that tested sensor is subjected to F
ZActing force, M
YThe opplied moment synoptic diagram.
Fig. 7 is that tested sensor is subjected to M
XThe opplied moment synoptic diagram.
Embodiment Fig. 1 is rectangular coordinate system in space figure, wherein X, Y, three rectangular axes of Z representation space.
Fig. 2. the alternating electromagnetism forcer produces the period T and the amplitude F of electric magnetization power
MCan change continuously by digital control system control.
Fig. 3. the structure of expression alternating electromagnetism forcer, electric magnetization power need be used the electric magnetization masterpiece on the tested sensor 6 by means of straight-line guidance mechanism.This figure straight-line guidance bearing that only draws, according to the measuring accuracy requirement, can select linear roller bearing or straight-line rolling guide pin bushing or pneumatic hydrostatic slideway or hydraulic pressure hydrostatic slideway, total principle is to make friction force little, guarantees that the alternation exciting force that electromagnetic force generator produces passes on the tested sensor 6 exactly.
Fig. 4. expression electromagnetic force generator 7B, electromagnetic force generator 7A are arranged on the axis direction of X and Y-axis, apply F so as to giving tested sensor
XWith F
YElectric magnetization power on the direction.
Fig. 5. expression electromagnetic force generator 7C and electromagnetic force generator 7D are arranged symmetrically in the axis both sides of X-axis, so as to producing electric magnetization moment M
Z
Fig. 6. expression electromagnetic force generator 7F and electromagnetic force generator 7G are arranged in the X-Z plane, and the short transverse position of staggering, so as to generation electric magnetization moment M
Y Electromagnetic force generator 7E is arranged on the axis direction of Z axle, so as to producing electric magnetization power F
Z
Fig. 7. expression electromagnetic force generator 7H and electromagnetic force generator 7I are arranged in the Y-Z plane, and the short transverse position of staggering, so as to generation electric magnetization moment M
X
A kind of multi-dimension force sensor dynamic experiment platform that is used for is made up of stand and electromagnetic force generator, and wherein electromagnetic force generator is the core component of multi-dimension force sensor dynamic experiment platform.Electromagnetic force generator is made of electromagnetic force generator fixation kit and mobile component two parts.Wherein the fixation kit of electromagnetic force generator is to be formed after with bolt by flange by electromagnet 2A and stand 1.The mobile component of electromagnetic force generator is made up of electromagnet 2B, linear roller bearing 3A, linear roller bearing 3B guide rod 4A, guide rod 4B, shaft coupling 5, its assembly relation is that electromagnet 2B and guide rod 4A end face are rigidly connected, and is connected with guide rod 4A by shaft coupling 5 after tested sensor 6 and the guide rod 4B locking again.Linear roller bearing 3A, linear roller bearing 3B are the mobile component lm guides.Leave the gap between fixation kit and mobile component, promptly leave 0.001～10 mm clearance between electromagnet 2A and the electromagnet 2B.
The basic function of multi-dimension force sensor dynamic experiment platform is: with counterweight or other static load augmentor in the alternative multi-dimension force sensor static laboratory bench of a plurality of electromagnetic force generators, realize giving tested sensor to apply electric magnetization power or electric magnetization moment, adopt the frequency response experimental method, realize multidimensional power sensing dynamic experiment or dynamic calibration.When the electromagnet 2A of electromagnetic force generator feeds the alternation sine-wave current that frequency changes continuously, amplitude is adjustable, electromagnetic force generator produces just that frequency can change continuously, the continuously adjustable electric magnetization masterpiece of amplitude is used for tested sensor 6, realizes that the dynamic experiment of sensor 6 loads.The main test event of sensor dynamic experiment has: test multi-dimension force sensor dynamic transmission characteristics (amplitude versus frequency characte and phase-frequency characteristic), demarcation force transducer dynamic performance parameter (natural frequency, cutoff frequency, damping ratio, dynamic rate, multi-dimension force sensor Dynamic Coupling matrix coefficient) etc.
The position of conversion electromagnetic force generator, two electromagnetic force generators of minimum need just can produce electric magnetization power F respectively
X, F
Y, F
ZWith electric magnetization moment M
X, M
Y, M
ZIf measure the Dynamic Coupling matrix coefficient of six-dimension force sensor, then need a plurality of electromagnetic force generators.By increasing, subtract the number of electromagnetic force generator, or one dimension, two dimension or multi-dimension force sensor dynamic experiment platform also can be designed in the position of conversion electromagnetic force generator.
Alternating magnetic field has three kinds of production methods:
Embodiment 1: electromagnet 2A feeds the alternation sine-wave current, electromagnet 2B be permanent magnet or
Embodiment 2: electromagnet 2B feeds the alternation sine-wave current, electromagnet 2A be permanent magnet or
Embodiment 3: the coil winding-direction of electromagnet 2A, electromagnet 2B is opposite, after the series connection of two coils, feeds together
An alternation sine-wave current.
Above-mentioned three kinds of methods can produce changeable frequency, controlled electric magnetization power and the electric magnetization moment of amplitude, realize tested sensor dynamic test.
Claims (5)
1, a kind of multi-dimension force sensor dynamic experiment platform that is used for is characterized in that: this method comprises stand (1), electromagnet (2) A, electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling (5), tested sensor (6);
Wherein stand (1) and electromagnet (2) A, constitute the fixation kit of electromagnetic force generator, electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling (5) constitute the mobile component of electromagnetic force generator;
Stand (1) is connected by nut with electromagnet (2) A, the end face of electromagnet (2) B and guide rod (4) A is rigidly connected, guide rod (4) A slides in the pilot hole of linear roller bearing (3) A, linear roller bearing (3) B, for mobile component provides linear movement guide, be connected with guide rod (4) A by shaft coupling (5) again after the locking of guide rod (4) B and tested sensor (6);
Have at least one to feed the alternation sine-wave current among described electromagnet (2) A and electromagnet (2) B, leave the gap between electromagnet (2) A and electromagnet (2) B, promptly leave the gap between electromagnetic force generator fixation kit and mobile component.
2, a kind of multi-dimension force sensor dynamic experiment platform according to claim 1 leaves the gap between the fixation kit of described electromagnetic force generator and mobile component, promptly leaves 0.001～10 mm clearance between electromagnet (2) A and electromagnet (2) B.
3, a kind of multi-dimension force sensor dynamic experiment platform according to claim 1, described electromagnet (2) A, electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling (5) can be that metal material is made, and also can make with nonmetallic materials.
4, according to the described a kind of multi-dimension force sensor dynamic experiment platform of claim 1, described linear roller bearing (3) A, linear roller bearing (3) B can use air pressure hydrostatic slideway, hydraulic pressure hydrostatic slideway, dynamic pressure guide rail, straight-line rolling guide pin bushing.
5, a kind of method that is used for multi-dimension force sensor dynamic experiment platform according to claim 1, this method adopts the frequency response experimental method, at multi-dimension force sensor, make multiple dynamic experiment and dynamic calibration, multi-dimension force sensor dynamic experiment platform realizes giving tested sensor to apply electric magnetization power and electric magnetization moment with counterweight or other static load augmentor in the alternative multi-dimension force sensor static laboratory bench of a plurality of electromagnetic force generators;
Described electromagnetic force generator is by stand (1), electromagnet (2) A, electromagnet (2) B, linear roller bearing (3) A, linear roller bearing (3) B, guide rod (4) A, guide rod (4) B, shaft coupling (5) is formed, electromagnetic force generator is connected with tested sensor (6) by guide rod (4) B, when feeding frequency, electromagnet (2) A of electromagnetic force generator changes continuously, during alternation sine-wave current that amplitude is adjustable, electromagnetic force generator just produces frequency can be changed continuously, the continuously adjustable electric magnetization masterpiece of amplitude is used for tested sensor (6), realizes tested sensor (6) is done various dynamic experiments;
When electromagnet (2) A fed the alternation sine-wave current, electromagnet (2) B was a permanent magnet, also can be the electromagnet that feeds steady current, produced electric magnetization power and electric magnetization moment;
When electromagnet (2) B fed the alternation sine-wave current, electromagnet (2) A was a permanent magnet, also can be the electromagnet that feeds steady current, produced electric magnetization power and electric magnetization moment;
When the coil winding-direction of electromagnet (2) A, electromagnet (2) B is opposite, after the series connection of two coils, feed the alternation sine-wave current, produce electric magnetization power and electric magnetization moment;
Dynamic test comprises: test multi-dimension force sensor dynamic transmission characteristics, and promptly amplitude versus frequency characte and phase-frequency characteristic are demarcated the force transducer dynamic performance parameter, i.e. natural frequency, cutoff frequency, damping ratio, dynamic rate, multi-dimension force sensor Dynamic Coupling matrix coefficient;
Dynamic test can at most only need two electromagnetic force generators to produce electric magnetization power F respectively by the position of conversion electromagnetic force generator
X, F
Y, F
ZWith electric magnetization moment M
X, M
Y, M
ZWhen measuring the Dynamic Coupling matrix coefficient of six-dimension force sensor, then need a plurality of electromagnetic force generators, the number by increasing, subtract electromagnetic force generator and the position of conversion electromagnetic force generator can manufacture one dimension, two dimension, and multi-dimension force sensor dynamic experiment platform.
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| CN102564685A (en) * | 2011-12-27 | 2012-07-11 | 中国科学院合肥物质科学研究院 | Multi-dimensional force sensor dynamic experiment device based on stable-state sine exciting force |
| CN102564684A (en) * | 2011-12-27 | 2012-07-11 | 中国科学院合肥物质科学研究院 | Method for multi-dimensional sensor dynamic test device based on stable-state sine excitation force |
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