WORK PIECE MOMENT OF INERTIA IDENTIFICATION SYSTEM

A method and system for identifying a moment of inertia (MOI) of a work piece includes coupling the work piece to a manipulator assembly such as a 6-axis robotic arm or 3-axis gimbal. The manipulator assembly includes a force/torque sensor and a motion feedback sensor. The manipulator assembly moves...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	VULCANO, Anthony R, MOOSMAN, Bryan R, HOLYOAK, Vonn L
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS MEASURING MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER,MECHANICAL EFFICIENCY, OR FLUID PRESSURE PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS TESTING TESTING STATIC OR DYNAMIC BALANCE OF MACHINES ORSTRUCTURES TESTING STRUCTURES OR APPARATUS NOT OTHERWISE PROVIDED FOR TRANSPORTING
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Beschreibung
Zusammenfassung:	A method and system for identifying a moment of inertia (MOI) of a work piece includes coupling the work piece to a manipulator assembly such as a 6-axis robotic arm or 3-axis gimbal. The manipulator assembly includes a force/torque sensor and a motion feedback sensor. The manipulator assembly moves the work piece with three-dimensional motion. Force, torque and movement measurements are made as the work piece moves. The MOI is identified according to the force and torque measurements and rotational accelerations derived from the measured movement. The measurements may be used to identify the products of inertia (POI) and center of mass of the work piece.