Optimal design of dynamic multi–axis force/torque sensor
نویسندگان
چکیده
The measurement of time–varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi–static approximations. However the problem can be casted as a problem of system inversion, provided reliable models of the dynamic relationship among force/torques and measurement gauges are available. Within this framework, it is possible in particular to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing force, torque and point of contact applied to a flexible beam with a rigid part.
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