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• Single Axis• 2-Axis –Axial Torsion (Fz, Mz)• 3-Axis – Fx, Fy, Fz • 6-Axis – Fx, Fy, Fz, Mx, My, Mz• 3-Axis Applications• 6-Axis Applications• Q&A
Agenda
• What it measures: Any single Force or Torque• Benefits: Highest accuracy• Limitations: Only measures one axis
Fz
Single Axis
• What it measures: Any two Forces or Torques simultaneously
• Benefits: Off-the-shelf, high accuracy sensors• Limitations: Fixturing / Installation
+
2-Axis Using 2x Single Axis Sensors
• What it measures: Fz and Mz in one sensor• Benefits: Compact design• Limitations: Fixed ratios of Force to Torque
FzMz
Axial Torsion
• What it measures: Forces in all 3 Axis – Fx, Fy & Fz
• Benefits: Compact design• Limitations: Fixed
capacities in each axis
3-Axis
• What it measures: Forces and Torques in all axis
• Benefits: Compact design, simplified installation, reduces required engineering
• Limitations: Fixed capacities in each axis
6-Axis
Full wheatstone bridge on each leg
Each channel output is in mV/V
• How it works – 6 full wheatstone bridges• All six legs react to any given load.• Individual load values are calculated using the product
of a all 6 channels of output and a coefficient matrix
6-Axis
• Load in each axis is calculated as the cross-product between the output on each channel and the 36-term coefficient matrix.
• Fx = CH1*CO1 + CH2*CO2 + CH3*CO3 + CH4*CO4 + CH5*CO5 + CH6*CO6
• Fy = CH1*CO7 + CH2*CO8 + CH3*CO9 + CH4*CO10 + CH5*CO11 + CH6*CO12
• Fz, Mx, etc..• There is also a calculation to translate the calculated
moments from the measurement origin to the point of application.
6-Axis