Algorithm and experiments of six-dimensional force/torque dynamic measurements based on a Stewart platform

AbstractStewart platform (SP) is a promising choice for large component alignment, and interactive force measurements are a novel and significant approach for high-precision assemblies. The designed position and orientation (P&O) adjusting platform, based on an SP for force/torque-driven (F/T-driven) alignment, can dynamically measure interactive forces. This paper presents an analytical algorithm of measuring six-dimensional F/T based on the screw theory for accurate determination of external forces during alignment. Dynamic gravity deviations were taken into consideration and a compensation model was developed. The P&O number was optimized as well. Given the specific appearance of repeated six-dimensional F/T measurements, an approximate cone shape was used for spatial precision analysis. The magnitudes and directions of measured F/Ts can be evaluated by a set of standards, in terms of accuracy and repeatability. Experiments were also performed using a known applied load, and the proposed analytical algorithm was able to accurately predict the F/T. A comparison between precision analysis experiments with or without assembly fixtures was performed. Experimental results show that the measurement accuracy varies under different P&O sets and higher loads lead to poorer accuracy of dynamic gravity compensation. In addition, the preferable operation range has been discussed for high-precision assemblies with smaller deviations

On the Development and Application of FOG

Gyroscope is a type of angular velocity measuring device, which can precisely determine the orientation of moving objects. It was first employed in navigation and later became an inertial navigation instrument widely used in modern aviation, aerospace, and national defense industries. As a vital representative of gyroscope, the fiber-optic gyroscope (FOG) has advantages in terms of compact structure, high precision, high sensitivity, and high environmental adaptability. FOG has been broadly utilized in many fields, and is also a key component of modern navigation instruments. In this paper, the history, classification, performance indicators, and application requirements of gyroscope are briefly summarized. The development history of FOG based on Sagnac effect is described in detail. The three generations of FOG are interferometric FOG, resonant FOG, and stimulated Brillouin scattering FOG. At the same time, this chapter summarizes the development and research situation of FOG in the United States, Japan, France, and other major developing countries, and compares the application of FOG in various international companies