Measurement of the mass properties of rigid bodies by means of multi-filar pendulums – Influence of test rig flexibility

Previati, Giorgio; Mastinu, Giampiero

doi:10.1016/j.ymssp.2018.11.011

Cited by 14 publications

(17 citation statements)

References 16 publications

(31 reference statements)

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“…where: M is the mass of the rigid body, and ∆m 1 , ∆m 2 , ∆m 3 are the difference readings of the three load cells. Based on the static equilibrium (first law), the CG location can be obtained by Equation (2).…”

Section: Methods For Obtaining the Mass And Cg Of A Bodymentioning

confidence: 99%

“…The load cell always has a designed axis of loading. If the location of the reaction force is out of this designed axis, it will cause errors of the load cells' readings, and errors of the CG results can be calculated according to Equation (2).…”

Section: Methods For Obtaining the Mass And Cg Of A Bodymentioning

confidence: 99%

“…Mass and Center of Gravity (CG) are prerequisite parameters when designing the dynamic performance of an aerospace vehicle, car, etc. [1,2]. When the shape of the vehicle is complicated, it is necessary to obtain mass and CG by experiments [3].…”

Section: Introductionmentioning

confidence: 99%

“…The mass can be achieved by weighing machines, for instance, load cells. There are several methods to measure the CG, which can be roughly classified into three categories as follows: (1) static method such as multi-point weighing method or unbalance moment method [1,4,5], (2) dynamic method such as spin balance method or inverted torsion pendulum method [6][7][8][9], and (3) other methods such as the photogrammetric technique for determination of the CG for large scale objects [10].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A Structure for Accurately Determining the Mass and Center of Gravity of Rigid Bodies

et al. 2019

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Measuring the mass and Center of Gravity (CG) of rigid bodies with a multi-point weighing method is widely used nowadays. Traditional methods usually include two parts with a certain location, i.e., a fixed platform and a mobile platform. In this paper, a novel structure is proposed to adjust the mobile platform for eliminating side forces which may load on the load cells. In addition, closed-form equations are formulated to evaluate the performance of the structure, and transformation matrices are used to estimate the characteristics of the structure. Simulation results demonstrate that repeatability of the proposed structure is higher than the traditional one and there are no side forces. Moreover, the measurement results show that the relative error of mass was within 0.05%, and the error of CG was within ±0.3 mm. The structure presented in this paper provides a foundation for practical applications.

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Section: Methods For Obtaining the Mass And Cg Of A Bodymentioning

confidence: 99%

Section: Methods For Obtaining the Mass And Cg Of A Bodymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Structure for Accurately Determining the Mass and Center of Gravity of Rigid Bodies

et al. 2019

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“…Multi-Mode Zero-Vibration Input Shaping [16], [22]), experimentally compared with traditional methods. The robot under investigation has λ = 2 free pose components, and thus the trajectory of 4 EE dependent coordinates can be assigned for planning purposes 4 . The natural frequencies of the robot are determined by taking into account the exact 4-cable 6-DoF architecture of the robot (an approximated method is reported in [14], which, according its authors, may have limitations when motion is performed near workspace edges).…”

Section: Application Examplementioning

confidence: 99%

Natural Oscillations of Underactuated Cable-Driven Parallel Robots

2021

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Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees of freedom (DoFs) of the end-effector (EE) that they control. As a consequence, the EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations. This paper proposes a methodology for the computation of the EE natural oscillation frequencies, whose knowledge has proven to be convenient for control purposes. This procedure, based on the linearization of the system internal dynamics about equilibrium configurations, can be applied to a generic robot suspended by any number of cables comprised between 2 and 5. The kinematics, dynamics, stability and stiffness of the robot free motion are investigated in detail. The validity of the proposed method is demonstrated by experiments on 6-DoF prototypes actuated by 2, 3, and 4 cables. Additionally, in order to highlight the interest in a robotic context, this modelling strategy is applied to the trajectory planning of a 6-DoF 4-cable CDPR by means of a frequency-based method (multi-mode input shaping), and the latter is experimentally compared with traditional non-frequency-based motion planners.

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Measurement and adjustment of the centroid deviation of aero-engine rotors based on unbalance decoupling

Liu

Sun

et al. 2023

Measurement

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Measurement of the mass properties of rigid bodies by means of multi-filar pendulums – Influence of test rig flexibility

Cited by 14 publications

References 16 publications

A Structure for Accurately Determining the Mass and Center of Gravity of Rigid Bodies

A Structure for Accurately Determining the Mass and Center of Gravity of Rigid Bodies

Natural Oscillations of Underactuated Cable-Driven Parallel Robots

Measurement and adjustment of the centroid deviation of aero-engine rotors based on unbalance decoupling

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