1438results about "Torque measurement" patented technology

The invention relates to the technical field of motor detection, and discloses a motor instantaneous torque measurement method and system based on a high-bandwidth sensor, and the method comprises the steps: synchronously collecting a torque signal and a multi-source interference variable through the high-bandwidth sensor, and forming an original torque sequence after time synchronization superposition; extracting disturbance frequency characteristics through multi-scale wavelet transform and spectral analysis; a pre-trained adaptive filter model is utilized to generate a filter coefficient matched with the working condition, and primary filtering is completed; residual fluctuation is suppressed in combination with Kalman state estimation, and an optimized torque estimation value is obtained; parameter self-adaptive compensation is realized through online calibration weight updating, and a stable torque measurement sequence is output; load abrupt change pre-judgment and threshold value dynamic updating are achieved based on time-frequency correlation analysis, and finally rapid measurement convergence after working condition abrupt change is ensured through a closed-loop reset mechanism. According to the method, the problem of low instantaneous torque measurement precision in the prior art can be solved.

The invention discloses a variable frequency motor load testing device and method, and relates to the technical field of variable frequency motor testing, and the device comprises a motor testing installation platform, a fastening T-shaped bolt, two variable frequency speed regulation asynchronous motors of the same model, a drum-shaped coupler, two inverters, a rectifier, a three-phase voltage regulator, a frequency converter and an intermediate DC link. According to the invention, two frequency conversion speed regulation asynchronous motors of the same model are coaxially connected, and the power generation electric energy of the accompanying test motor is fed back to an intermediate direct current link through an inverter, so that the cyclic utilization of the electric energy and the dual-motor structural design are realized, complex load equipment does not need to be configured, and the fixed asset investment is reduced; for motors of different models, only corresponding accompanying test motors need to be replaced, the universality is improved, through voltage and current monitoring in an intermediate direct current link and motor rotating speed and torque parameter collection, and by combining a multi-dimensional performance evaluation model, precise evaluation of the motor load performance is achieved, the test efficiency is improved, and the strict test requirements are met.

The invention discloses an automatic torsion testing machine. The automatic torsion testing machine comprises a first table support, a second table support, a third table support, a fourth table support and stand bars, wherein the framework of the whole torsion testing machine is formed by the first table support, the second table support, the third table support and the fourth table support, the stand bars are installed on the bottom corners of the framework, a working table is arranged above the third table support and the fourth table support, a second part detecting sensor is installed above the third table support and on the working table, and a first part detecting sensor is installed above the fourth table support and on the working table. The automatic torsion testing machine has the advantages that working efficiency is improved, labor intensity of workers is relieved, and the integral advanced level of an enterprise can be improved.

Provided is a magnetostrictive torque measurement device that makes it easy to ensure accuracy of torque measurement, sensitivity of torque measurement, or both. A magnetostrictive torque measurement device 1 comprises: a rotary shaft 2 that has a detected part 4 that has magnetostrictive characteristics at a portion in the axial direction of an outer circumferential surface; and a magnetostrictive torque sensor 3. The magnetostrictive torque sensor 3 includes: a holder 5 that is formed from a synthetic resin, has an inner circumferential surface 7 that is loosely fitted in the radial direction onto the outside of the detected part 4 so as not to rattle, and does not rotate even during use; and a coil unit 6 that is held by the holder 5 and has a detection part 12 that includes a plurality of detection coils 11 (11a–11d).

A strain wave gearing (1) is configured to have a unitized structure having a main bearing (5) that supports an internally toothed gear (2) and an externally toothed gear (3) in a manner that allows relative rotation, and an output flange (6) that is linked to the externally toothed gear (3). The externally toothed gear (3) is formed in the shape of a wine glass and ensures a large hollow diameter, which is required in cases where the externally toothed gear (3) is incorporated into a robot joint part or the like. A strain gauge (101) of a torque sensor (100) is attached to an outward-facing end surface portion of the output flange (6) linked to the externally toothed gear (3). The torque sensor (100) is capable of precisely detecting rotational torque without being affected by flexing of the externally toothed gear (3), and elements such as the strain gauge (101) are not exposed to oil, grease, or the like.

The invention discloses a robot joint transparency testing method and device, and belongs to the technical field of robot joint testing. According to the method, the transmission transparency is evaluated by testing three indexes including the ratio of joint reverse drive torque to the maximum output torque, the torque control bandwidth and the correlation between motor current and output torque; the device comprises a driving mechanism, a loading mechanism and a test platform with a sliding assembly, the driving mechanism is connected with a joint input end through a coupling, and the loading mechanism is connected with an output end. According to the invention, a quantitative evaluation system of transmission transparency is established, a modular device capable of separably testing joint motor reverse drive torque (distinguishing charged / uncharged states) and speed reducer forward / reverse drive efficiency is designed, and accurate data support is provided for joint performance optimization.

The invention discloses an automatic measuring device and measuring method for dynamic and static friction torques of medium and large-sized bearings, and belongs to the technical field of bearing detection.The device comprises a bearing assembly, a moving plate is arranged on the bearing assembly, a rotating motor is connected to the bottom of the bearing assembly, and a driving shaft system is arranged on an output shaft of the rotating motor; the top end of the driving shaft system is provided with an inner ring fixing mandrel, the upper surface of the moving plate is connected with a torque sensor through an upper fixing frame, the bottom end of the torque sensor is provided with a measuring shaft system, the bottom end of the measuring shaft system is sleeved with a center adjusting assembly through two guide columns, the bottom of the center adjusting assembly is provided with an outer ring loading tool, and the outer ring loading tool is provided with an inner ring. Under the cooperation of the structure, not only can the dynamic friction torque be measured, but also the multi-point static friction torque can be automatically measured, more comprehensive bearing friction characteristic data are provided, and optimization of bearing design and model selection is facilitated.

The invention provides a gearbox variable working condition mechanical loss torque efficiency correction test method based on a neural network. The method comprises the following steps: S1, determining a to-be-tested gearbox and basic parameters; s2, building a gearbox variable working condition test system; s3, acquiring basic operation data of the gearbox; s4, calculating theoretical mechanical loss torque and efficiency of the gear box; s5, the actually-measured mechanical loss torque and efficiency of the gearbox are collected, and an error data set is generated; s6, constructing and training an error correction model fusing the back propagation neural network and support vector regression; s7, performing mechanical loss torque and efficiency correction based on the fusion model; and S8, verification and feedback optimization of a correction result. According to the method, on the basis of all-working-condition data, the defect of a single model is overcome through double-algorithm fusion, precise correction of the mechanical loss torque and efficiency of the gearbox under the variable working conditions is achieved, and reliable data support is provided for gearbox design optimization, working condition matching and energy efficiency evaluation.

The invention relates to the technical field of sensors, and provides a six-dimensional force and torque force sensor and a preparation method thereof.The six-dimensional force sensor is of a disc-shaped structure and comprises an outer supporting ring, an inner mass block and eight elastic beams connected between the outer supporting ring and the inner mass block; wherein the eight elastic beams comprise a first elastic beam and a second elastic beam which are alternately arranged around the inner mass block, the first elastic beam is a straight beam, the second elastic beam is a special-shaped beam, and a strain gauge preset on the main surface of each elastic beam responds to the strain of the elastic beam to generate a measurement signal; and the force and / or the torque applied to the inner mass block or the outer support ring can be determined according to the measurement signal. Due to the fact that the different elastic beams are different in shape and structure, the strain gauges are preset on the elastic beams of different types and positions, and the bridging mode is set, the output of each Wheatstone bridge is only sensitive to the force or the moment of force in the changed direction and is not sensitive to the force or the moment of force applied in other directions, and the decoupling capacity of the sensor structure is improved to the maximum degree.

A combined three-dimensional force / torque sensor. A plurality of discrete one-dimensional force sensors (11, 12, 13, 14) are used to measure force components, and a conduction flange (2) is used to transmit an external force. The combined design effectively reduces inter-dimensional coupling and has a simple structure. The lateral torque and the axial pressure are monitored in a differential form and a summation form, thereby effectively improving the sensitivity and measurement accuracy of the sensor. Further disclosed is a miniature calibration system established by using the combined three-dimensional force / torque sensor. The calibration system has a small size and a simple structure, is easy to assemble and convenient to carry and transfer, and is capable of on-site calibration.

A magnetostrictive torque sensor for measuring torque that is applied to a rotating shaft having magnetostrictive characteristics, includes a flexible substrate having a plate-shaped base material made of a flexible dielectric material and a plurality of detection coils formed by conductor patterns on front and back sides of the base material, and a measurement unit that measures the torque by the change in inductance of the plurality of detection coils due to the change in magnetic permeability of the rotating shaft, wherein the plurality of detection coils includes a first detection coil comprising a first coil winding including a first inclined portion inclined to one side with respect to an axial direction of the rotating shaft, and a second detection coil comprising a second coil winding including a second inclined portion inclined to the other side with respect to the axial direction of the rotating shaft, wherein the flexible substrate includes parallel extending portions where the first coil winding and the second coil winding extend parallel to sandwich the substrate, and wherein a centerline of the first coil winding and a centerline of the second coil winding are misaligned in a direction perpendicular to their respective centerlines in the parallel extending portions.

A power control actuator of the present disclosure includes: an output-side bearing provided on a side on which a torque is to be outputted; a speed reducer including an output shaft; and a torque sensor that detects a torque associated with rotation of the output shaft, in which an outer peripheral surface of the torque sensor and an inner peripheral surface of the output-side bearing constitute a spigot joint structure, an inner peripheral surface of the torque sensor and an outer peripheral surface of the output shaft of the speed reducer constitute a spigot joint structure, and the output-side bearing, the output shaft of the speed reducer, and the torque sensor have a coaxial structure.

The invention discloses a silo structure slip form construction digital monitoring system, which comprises a monitoring module used for acquiring elevation and torsion data of a slip form platform and inclination angle data of a silo wall in real time, and a data acquisition and forwarding module used for acquiring and forwarding monitoring data of the monitoring module, the data analysis processing module is used for receiving monitoring data, and the user side module is used for receiving difference adjustment information output by the data analysis processing module, generating a monitoring curve and a report form according to the difference adjustment information and visualizing the monitoring curve and the report form. The monitoring module comprises a slip form platform elevation monitoring assembly, a slip form platform torsion monitoring assembly and a silo wall inclination angle monitoring assembly. The detection system can automatically monitor the elevation of the slip form platform, the inclination angle of the silo wall and the torsion of the slip form platform in real time in the construction process of the silo structure at the same time, report and curve visualization is carried out on detection results, the construction process of the slip form is guided, the construction efficiency of the slip form is improved, and safety accidents can be avoided.

The invention discloses a cutter wear monitoring method based on a physical guidance dynamic gating chart convolution framework, and the method comprises the steps: 1, collecting a cutting force signal, a bending moment signal and a vibration signal of a cutter and a workpiece in the operation process of the cutter; 2, performing data preprocessing on the acquired multi-source sensor signal sequence; 3, calculating a Pearson correlation coefficient between each feature in the original feature set and the tool wear; 4, screening the first Top-k features to construct a sensitive feature set integrating force, vibration and bending moment; 5, extracting cutter wear information in the sensitive feature set by adopting a dynamic gated graph convolutional network, and establishing long-term dependency between features; and 6, performing output decoding on the features after the long-term dependency is established, establishing a mapping relation between the tool wear value and the input features, and outputting a tool wear monitoring value. According to the method, deep fusion of the graph structure and the time sequence features is realized, and the accuracy and stability of tool wear prediction are effectively enhanced.

The invention relates to the technical field of coupler processing and testing, in particular to a torque testing device for coupler processing, which comprises a rack, a motor and a speed reducer are mounted at the top of the rack, torque sensors are mounted on output shafts of the motor and the speed reducer, and stepped shafts are mounted on output shafts of the torque sensors. A fixing assembly is arranged on the outer side of the stepped shaft. The invention provides a torque testing device for coupling processing, which has the advantages that the coupling can be quickly mounted through the cooperation of the fixing assembly and the chuck, couplings with different sizes and shapes can be tested, and the mounting process is simplified so as to improve the efficiency and transmission; stable transmission of the double-ring frame is guaranteed through the design of matching of reverse threads, protrusions and grooves and the like; in terms of structural details, the torsion spring enables the expansion plate to reset automatically, the knurling technology enhances friction force, the fixing effect is ensured, and the load can be adjusted according to needs.

The invention relates to the technical field of film strain, in particular to a preparation and installation method of a film strain sensor and a harmonic reducer. The preparation and installation method comprises the steps that the surface of a workpiece to be installed is coated with a polyamide acid solution, then heating is conducted, and polyamide acid is subjected to dehydration cyclization to form a polyimide film attached to the surface of the workpiece to be installed; and then, forming a laser-induced graphene electrode pattern on the polyimide film. The harmonic reducer comprises a wave generator, a rigid gear, a flexible gear and a thin film strain sensor, the flexible gear is connected into the rigid gear in a toothed mode, and the wave generator is arranged in the flexible gear; the film strain sensor comprises a strain film and a graphene electrode, the graphene electrode is formed on the strain film, and the strain film is in direct contact connection with the surface of the flexible gear. Through the film strain sensor adhered to the surface of the workpiece to be installed, in-situ torque detection can be achieved, measurement errors, hysteresis, instability and the like caused by a glue joint layer are avoided, and measurement is more accurate.

The invention discloses a nut locking torque measuring device and method, and the device comprises a bottom plate, a torque measuring assembly, a clamping assembly, a one-way locking assembly and a driving assembly, the top of the torque measuring assembly is provided with a measuring end, the measuring end is detachably connected with a mounting part, and the clamping assembly comprises a mounting seat. Two clamping parts which are oppositely arranged are movably connected to the mounting seat, clamping surfaces are arranged on the two clamping parts, limiting blocks are arranged on the two clamping surfaces, the two sets of one-way locking assemblies are arranged on the mounting seat and used for locking the two clamping parts respectively, and the driving assembly is movably connected with the mounting seat. A first elastic piece is arranged between the driving assembly and the mounting base, and the driving assembly is used for driving the mounting base to move in the vertical direction and driving the mounting base to rotate. The torque wrench aims at solving the technical problems that a torque wrench is narrow in application range, high in cost and inconvenient to align and operate.

A portable on-vehicle dynamometer comprises a containment chassis (2), a drum (3) rotatably housed in said containment chassis (2) to rotate around a load shaft (4), mechanical transmission means (5) adapted to connect said load shaft (4) to the hub of a wheel of the vehicle being measured to transfer the motion of the vehicle engine to said drum (3), wherein said mechanical transmission means (5) comprise a connection flange (6) provided with a central axis of rotation and suitable to be fixed stably but removably to the hub of the vehicle wheel, wherein said mechanical transmission means (5) further comprise a CV joint (7) adapted to connect said flange (6) with one end of said load shaft (4) and designed to allow mutual angular regulation between said load shaft (4) and the central rotation axis of said flange (6) with respect to at least one inclination plane.

The invention discloses a method and a system for acquiring the output power of a turbine, relates to the technical field of turbine monitoring, and provides a five-stage closed loop aiming at a ship high-temperature wet vibration environment, and millisecond-stage alignment torque, rotating speed, fuel oil, exhaust and vibration signals are synchronously acquired in a multi-source manner; secondly, a credibility matrix is constructed through null drift detection, wavelet denoising and consistency verification, and initial power is obtained through Kalman fusion; performing real-time comparison by using a digital twinborn model, and adaptively adjusting the weight of the sensor to output a correction power curve; then decomposing the virtual-real residual into slow drift, transient and harmonic factors, and dynamically modifying the sensitivity and the sampling rate to realize source end self-compensation; and finally, performing windowed compression, partitioning and salting hash on the correction curve, quickly confirming the right of the three-node lightweight block chain, and writing the fingerprint back to a twin model to realize minute-level tamper-proof traceability. The method has the advantages of high-resolution measurement, rapid deviation correction and real-time credible evidence storage.

Disclosed is a strain-generating structure and a force sensor. The strain-generating structure comprises at least one strain body configured to generate strain under an external force. A surface of the at least one strain body is provided with at least one concave-convex structure. The at least one concave-convex structure is provided with a concave portion and a convex portion adjacent to the concave portion. The convex portion of the at least one concave-convex structure is provided with at least one strain gauge. The at least one strain gauge is configured to sense the strain. The strain-generating structure has a datum plane perpendicular to an axis of the strain-generating structure. Each of the at least one strain gauge is disposed parallel to the datum plane. The strain-generating structure attaches the strain gauges to a plane that facilitates operation of the machine and considers the detection performance of a six-axis force / torque sensor.

The invention discloses a cam indicator and a detection method. The cam indicator comprises a tensioning seat mechanism, a lifting mechanism and a cam mechanism which are arranged on a rack from top to bottom. The tensioning seat mechanism comprises a tensioning seat and a positioning head, wherein the tensioning seat is arranged at the upper end of the rack in a vertically movable mode, the positioning head is arranged on the tensioning seat, and a pressure sensor is arranged at the position, close to the positioning head, in the tensioning seat. The lifting mechanism comprises a lifting seat which is arranged on the rack in a manner of moving up and down, and a displacement sensor is arranged in the rack close to the lifting seat; the cam mechanism can drive the lifting seat to move back and forth in the vertical direction; the provided cam indicator can effectively simulate the real working condition of the shock absorber, can effectively collect displacement and pressure data, can effectively adjust simulation according to the sizes of shock absorbers of different models, and can adjust the displacement distance according to detection requirements.

The embodiment of the invention discloses a range extender working condition generation method and device and a vehicle. The range extender working condition generation method comprises the steps that whole vehicle working condition big data information is acquired, wherein the whole vehicle big data information comprises multiple pieces of range extender power data; according to the whole vehicle working condition big data information, performing interval division on the range extender power data, and determining statistical data of power distribution and power change rate of each interval; and generating the characteristic working condition of the range extender based on the statistical data of the power distribution and the power change rate. According to the range extender working condition generation method and device and the vehicle provided by the embodiment of the invention, required working conditions can be provided for testing and verifying various performances of the range extender.

The invention relates to an electric drive system efficiency test compensation method, a storage medium and a program product, and relates to the technical field of new energy automobiles. The method is executed by a rack control system, and comprises the following steps: acquiring mechanical friction torque and friction mechanical power when a dynamometer idles; collecting the line resistance of a direct current bus between a power battery of the vehicle and a motor controller and the line resistance of a three-phase end line between a motor of the vehicle and the motor controller before the efficiency test; relevant parameters in the efficiency testing process are collected, wherein the relevant parameters comprise direct-current bus current, direct-current bus power, U-phase current, V-phase current, W-phase current, three-phase electric power, dynamometer rotating speed, dynamometer actual measurement torque and dynamometer mechanical power; according to the friction mechanical power, the line resistance of the direct current bus, the line resistance of the three-phase end line and related parameters, the efficiency compensation of the electric driving system is calculated, so that the accuracy of the efficiency test compensation calculation of the electric driving system is improved.

The invention relates to a strain wave gear mechanism comprising: a wave generator which is rotatably mounted relative to a flexspline about an axis of rotation; and a gear which meshes with the flexspline. The problem is solved by a strain wave gear mechanism which is characterised by: at least one deformation measurement sensor which measures a deformation, in particular a radial deformation, of the gear and / or of a transmission component which is connected to the gear or to the flexspline, said deformation being caused by the shape of the wave generator; and an evaluation device which receives measurement signals from the at least one deformation measurement sensor and, on the basis of the measurement signals, determines the rotational position and / or the rotational speed and / or the direction of rotation of the wave generator and / or of a transmission element rotating in accordance with the reduction ratio of the strain wave gear mechanism, in particular of the flexspline, in particular relative to the gear or relative to the flexspline.

The invention provides a testing device for an underground sealing element. The testing device comprises a detection part and an input part, a sealing cavity used for simulating the underground environment is formed in the detection part, and an assembling cavity used for assembling a sealing piece and a detection cavity used for detecting leakage are further formed in the detection part. Before the sealing element is assembled, the sealing cavity is communicated with the detection cavity through the assembling cavity. After the sealing element is assembled, the sealing cavity and the detection cavity are separated by the sealing element. The detection part can drive the sealing element to rotate so as to measure the torque of the sealing element. The output end of the input part communicates with the sealing cavity, and slurry under the preset pressure and the preset temperature can be conveyed into the sealing cavity through the input part so as to control the pressure and the temperature of the sealing cavity. And the detection part can also detect the existence condition of slurry in the detection cavity so as to measure the failure leakage condition of the sealing element. The underground environment and the working state of the sealing element can be simulated, so that a large amount of experimental data can be obtained, and the usable time of the sealing element can be accurately mastered in advance.

The utility model relates to a rolling bearing friction torque testing device which comprises a driving unit, a diaphragm coupling, a supporting shaft system, a heating ring, a high-low temperature box heat preservation sleeve, a high-low temperature box, a test bearing friction torque testing assembly and a rack. The test bearing friction torque test assembly comprises a test bearing outer bush, a test bearing, a test connecting shaft, a test bearing inner ring gland, a test bearing outer ring gland, a guide rod, a miniature force sensor, a force sensor fixing frame and a high and low temperature box base. The friction torque testing device is ingenious in design, simple in structure, convenient and practical, can simulate testing of starting friction torque and operation friction torque of the rolling bearing in high and low temperature environments, fills the blank of friction torque measurement of the rolling bearing in the high and low temperature environments in the bearing industry, enhances testing technical means and methods of the rolling bearing in high and low temperature aspects, and improves testing efficiency. Compared with the prior art, the device has good market prospect and development space.

The invention discloses a figure rocket launcher pitching transmission shaft torque dynamic detection method and system, and the method comprises the steps: enabling a stepping motor to drive a driving gear through a speed reducer to drive a pitching transmission shaft to rotate, and collecting a torque signal in real time through a magnetoelectric induction torque sensor; and the phase difference measuring unit converts the dual-channel sinusoidal signal into a square wave and calculates the phase difference, and then outputs a digital torque value through the analog-to-digital converter. And the control module adopts Kalman filtering and a calibration curve to realize dynamic compensation. The recording sub-module is provided with a high-capacity solid-state memory and supports continuous recording of detection data in a circulating storage mode. The differential sensing structure is adopted, the neodymium iron boron magnetic steel and the multi-layer winding signal coil design are combined, the detection precision of the micro torque fluctuation under the low-speed and heavy-load working condition is effectively improved, the technical problems of detection lag, transient impact missing detection, data tracing difficulty and the like existing in a traditional method are solved, and the detection precision of the micro torque fluctuation under the low-speed and heavy-load working condition is improved. And the safety monitoring capability of the rocket launcher transmission system is obviously enhanced.

The invention relates to the technical field of motor testing, in particular to a permanent magnet synchronous motor testing device and a method thereof.The permanent magnet synchronous motor testing device comprises a testing table, a permanent magnet synchronous motor and a load dynamometer installed on the testing table, a transmission box is installed on the testing table through bolts, and a main spiral gear is rotationally connected to the inner side of the transmission box; a connecting shaft is fixedly connected between the side wall of the main spiral gear and the output end of the load dynamometer, a base is fixedly connected to the inner bottom end of the transmission case, and a rotating shaft is rotatably connected to the base in a penetrating mode. The to-be-tested permanent magnet synchronous motor is installed on the other side of the transmission case, and then after a previous permanent magnet synchronous motor is tested, rapid switching of the tested permanent magnet synchronous motor can be completed by controlling closing of the corresponding electromagnetic jaw clutch, so that the other motor can be installed and leveled during motor testing, and a large amount of installation time is saved.

The present invention relates to a method for accurately determining an output torque, in particular an output torque of an actuator gear mechanism of a joint of a collaborative robot, by an artificial intelligence designed to output one or more output variables based on input variables, wherein the input variables of the artificial intelligence include a first angle specification corresponding to an input angular position and a second angle specification corresponding to an output angular position, and further wherein the output variables include an output torque determined by the artificial intelligence.

The invention discloses a harmonic reducer integration-based strain torque sensor, and relates to the technical field of sensors, the harmonic reducer integration-based strain torque sensor comprises an annular strain gauge and a signal acquisition module, and the annular strain gauge is electrically connected with the signal acquisition module; the annular strain gauge is mounted on the bottom surface of the flexible gear and is concentric with the flexible gear; the signal acquisition module is mounted outside the hollow inner shaft of the flexible gear; during working, when output power of the flexible gear is subjected to resistance, the bottom surface of the flexible gear generates strain, the annular strain gauge converts a strain signal into an analog voltage signal through a Wheatstone bridge formed by a resistance wire grid, the analog voltage signal is output to the signal acquisition module, and a force value signal is obtained after digital-to-analog conversion; by arranging the annular strain gauge on the bottom surface of the flexible gear, real-time detection of output torque is realized, extra flexible introduction of deformation of the peripheral surface of the flexible gear is avoided, structural deformation is reduced, interference of rotation of a wave generator on signals is effectively suppressed through a Wheatstone bridge design, and measurement precision and stability are ensured.