Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance Mechanism
The principle of a zero-compliance mechanism was used to develop a three-dimensional force measurement instrument. In each axis, the point of force is suspended by a zero-compliance mechanism. A vertical axis force estimation operation imitates the structure of a double series magnetic suspension sy...
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doaj-e85cdb85c1334645be45c00aeefb84952020-11-25T01:59:03ZengMDPI AGSensors1424-82202019-02-0119479910.3390/s19040799s19040799Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance MechanismMd Helal An Nahiyan0Takeshi Mizuno1Masaya Takasaki2Yuji Ishino3Masayuki Hara4Daisuke Yamaguchi5Department of Mechanical Engineering, Saitama University, Saitama 338-8570, JapanDepartment of Mechanical Engineering, Saitama University, Saitama 338-8570, JapanDepartment of Mechanical Engineering, Saitama University, Saitama 338-8570, JapanDepartment of Mechanical Engineering, Saitama University, Saitama 338-8570, JapanDepartment of Mechanical Engineering, Saitama University, Saitama 338-8570, JapanDepartment of Mechanical Engineering, Saitama University, Saitama 338-8570, JapanThe principle of a zero-compliance mechanism was used to develop a three-dimensional force measurement instrument. In each axis, the point of force is suspended by a zero-compliance mechanism. A vertical axis force estimation operation imitates the structure of a double series magnetic suspension system. An electromagnet directly controls the movement of the first suspended object (floator), which is denoted as a detection point, and indirectly controls the motion of the second floator, which is denoted as a point of force. Indirect control of the point of force is executed by the attractive force of a permanent magnet that is fixed to the bottom part of the detection point. To achieve zero-compliance, a Proportional-Integral-Derivative (PID) control is applied to the point of force, and to make the system stable, a Proportional-Derivative (PD) control is also applied to the detection point. In such suspension conditions, when force is exerted on the point of force, the displacement of the second floator is regulated to maintain its primary position while the detection point displaces in proportion to the applied force. Thus, a zero-compliance condition is maintained at the point of force, and the external force is measured from the linear displacement of the detection point. To restrict the motions of the detection point and the point of force in translation only, they are supported with leaf springs. This paper presents the modeling of the vertical direction force measurement operation of the developed three-axis force estimation instrument, and the theoretical analyses were validated by experiments of force measurement in both the millinewton and micronewton ranges.https://www.mdpi.com/1424-8220/19/4/799zero-complianceforce measurementelectromagnetic forcemagnetic balanceseries suspension |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Md Helal An Nahiyan Takeshi Mizuno Masaya Takasaki Yuji Ishino Masayuki Hara Daisuke Yamaguchi |
spellingShingle |
Md Helal An Nahiyan Takeshi Mizuno Masaya Takasaki Yuji Ishino Masayuki Hara Daisuke Yamaguchi Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance Mechanism Sensors zero-compliance force measurement electromagnetic force magnetic balance series suspension |
author_facet |
Md Helal An Nahiyan Takeshi Mizuno Masaya Takasaki Yuji Ishino Masayuki Hara Daisuke Yamaguchi |
author_sort |
Md Helal An Nahiyan |
title |
Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance Mechanism |
title_short |
Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance Mechanism |
title_full |
Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance Mechanism |
title_fullStr |
Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance Mechanism |
title_full_unstemmed |
Modeling and Validation of Vertical Direction Force Estimation with a Three-Dimensional Force Measurement Instrument Based on a Zero-Compliance Mechanism |
title_sort |
modeling and validation of vertical direction force estimation with a three-dimensional force measurement instrument based on a zero-compliance mechanism |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2019-02-01 |
description |
The principle of a zero-compliance mechanism was used to develop a three-dimensional force measurement instrument. In each axis, the point of force is suspended by a zero-compliance mechanism. A vertical axis force estimation operation imitates the structure of a double series magnetic suspension system. An electromagnet directly controls the movement of the first suspended object (floator), which is denoted as a detection point, and indirectly controls the motion of the second floator, which is denoted as a point of force. Indirect control of the point of force is executed by the attractive force of a permanent magnet that is fixed to the bottom part of the detection point. To achieve zero-compliance, a Proportional-Integral-Derivative (PID) control is applied to the point of force, and to make the system stable, a Proportional-Derivative (PD) control is also applied to the detection point. In such suspension conditions, when force is exerted on the point of force, the displacement of the second floator is regulated to maintain its primary position while the detection point displaces in proportion to the applied force. Thus, a zero-compliance condition is maintained at the point of force, and the external force is measured from the linear displacement of the detection point. To restrict the motions of the detection point and the point of force in translation only, they are supported with leaf springs. This paper presents the modeling of the vertical direction force measurement operation of the developed three-axis force estimation instrument, and the theoretical analyses were validated by experiments of force measurement in both the millinewton and micronewton ranges. |
topic |
zero-compliance force measurement electromagnetic force magnetic balance series suspension |
url |
https://www.mdpi.com/1424-8220/19/4/799 |
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