FORCE MEASUREMENT USING ZERO-COMPLIANCE MECHANISM

抄録

Force measurement systems using zero-compliance mechanism has been proposed and developed. In this system, the force to be measured acts on a target body (point of force) suspended by a zero-compliance mechanism consisting of two suspensions connected in series through a detection point. One of the suspensions is operated to cancel the displacement of the other. The force can be estimated from the displacement of the detection point or the relative displacement of the point of force to the detection point. The proposed force measurement system has a variety of configurations. They are classified according to location of active element, actuator for the active element, location of positive-stiffness element and control method of achieving zero-compliance. Several apparatuses developed based on the basic concept are introduced.