RIGID BODY INERTIA PROPERTY ESTIMATION USING A SIX-AXIS LOAD CELL

摘要

A method to estimate a structure's inertia properties using a prototype six-axis load cell is presented. This prototype load cell has an overdetermined set of sensing elements which are sensitive to the six components of force. A calibration matrix obtained using the 6DOF load cell calibration method is used to uncouple the outputs into the six components of force. A system's inertia properties can be estimated by employing rigid body dynamics and the calibrated 6DOF load cell. A thorough discussion of the inertia estimation procedure with experimental test cases are presented.