Triaxial force and moment measuring device and load component extraction method

Abstract

The application discloses a three-axis force and moment measuring device based on frequency response distribution characteristics and a load component extraction method. The measuring device comprises an elastic bearing structure and a plurality of frequency type force sensitive units coupled therewith, each force sensitive unit is used for converting the structural stress generated under the action of external load into a corresponding frequency change signal, when forces or moments in different directions act on the bearing structure, the output frequency of each frequency type force sensitive unit presents different distribution response states; when axial force acts, the frequency change trend of the whole is consistent, when bending moment acts, the frequency difference distribution with direction correlation is formed, by analyzing and combining the distribution characteristics of the plurality of frequency output signals, the three-axis force and the corresponding moment component can be extracted respectively. The application realizes the load component extraction based on the spatial distribution law of frequency response, does not depend on complex coupling compensation algorithm, the structure implementation mode is flexible, and has the characteristics of high signal stability and good dynamic response performance.

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