perm filename FORCAL.DAT[1,VDS] blob
sn#255251 filedate 1976-12-23 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00025 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00004 00002 JPL FORCE BALANCE - FOR CURV MANIPULATOR
C00008 00003 ELECTRICAL DETAILS
C00010 00004 CALIBRATION MATRIX: CURRENT TIME AND DATE: 14:07 22MAY76
C00013 00005 CALIBRATION DATA FOR JPL FORCE WRIST - CURV MANIPULATOR
C00017 00006 E
C00018 00007
C00019 00008
C00020 00009 TEST 00000
C00021 00010 TEST 00000
C00022 00011 SEA CALIBRATION
C00023 00012
C00024 00013
C00025 00014
C00026 00015 G
C00027 00016 G
C00028 00017 FORCE/MOMENT OF 0,0,4.4,0,0,0
C00029 00018 FORCE/MOMENT OF 0,0,4.4,0,0,0
C00030 00019 FORCE/MOMENT OF 0,0,4.4,0,0,0
C00031 00020 FORCE/MOMENT 0,-2.2,0,-16.06,0,0
C00032 00021 FORCE/MOMENT 2.2,0,0,0,-16.06,0,
C00033 00022 FORCE/MOMENT 4.4,0,0,0,-10.12,0,
C00034 00023 FORCE/MOMENT 0,-2.2,0,-3.3,0,-9.35
C00035 00024
C00044 00025 FORCE/MOMENT IS 0,0,0,0,0,0
C00046 ENDMK
C⊗;
JPL FORCE BALANCE - FOR CURV MANIPULATOR
USEFUL INFORMATION
Load range.
Direction force (lb) Torque (in-lbs)
X 30 72
Y 30 72
Z 50 120
Construction Details
The force sensing element is a single aluminum piece,
characterized by four square beams cantelevered from a central hub simply
supported at their outer end. All forces and torques are supported by
beam bending. Tensile and compressive strains are less than 2% of bending
strain at the gages. Torsional strain is less than 15% of bending strain.
Eight pairs of semiconductor strain gages are mounted on the sides
of these beams near the built in ends. These matched pairs of gages have
gage factors of about 120. All gage leads are brought out to a terminal
board where they are paired and power supply leads are commoned. The
gages are powered with a +- 2.5 vdc supply. Ten wires are required- + 2.5
vdc, - 2.5 vdc, and the 8 signal leads.
The force balance has been designed to that maximum strains will
be about 1200 microinches per inch. Thus with a gage factor of 120 the
output will be about +- .36 volts.
The amplifiers supplied by JPL have been set up to have a uniform
gain of 10. This gives a maximum output of +- 3.6 vdc. As the peak
strains are not uniform, this peak output varies from +- 2.0 vdc to +- 6
vdc depending on axis. It is suggested that amplifier gains be left where
they are for the time being.
Overload protection is provided by a plate mounted between the
force beams and the hand. This plate has a small gap in it and four pins.
The gap sets Z-force and X and Y moment limits, while the pins set Z
moment and X and Y force limits.
The calibration matrix has been derived by putting test loads on
the force sensor. The hand was in place while this was done. All
measurements were made on a relative basis. This means that the unloaded
output was recorded, and then the loaded output recorded. The differences
were used in the matrix solution. All units are in pounds and
inch-pounds. As the amplifiers were not zeroed for each bridge, unloaded
offsets exist. All measurements must be made on a relative basis. It is
suggested that each operation be started with a base measurement.
ELECTRICAL DETAILS
SIGNALS
GAGE NAME LEAD COLOR CHANNEL # JPL #
1X RED 0 8
1Y BROWN 1 7
2X PURPLE 2 6
2Y GREEN 3 5
3X WHITE 4 4
3Y GREY 5 3
4X YELLOW 6 2
4Y ORANGE 7 1
--------------------------
| |
--- Y ---
| --- |
| X | | X | SIDE VIEW OF FLEXURE UNIT
| | | | END VIEW OF A BEAM
--- --- ---
| Y |
--------------------------
All gages are paired. Thus gage pair 1X consistes of the two X gages on beam #1.
___ ___
Gages are wired this way. +2.5---| X |--.--| X |--- -2.5
--- | ---
|
OUT
Principal gage pairs are:
Force Principal gages Sign of signal
+X 3X(+),1X(-)
+Y 2X(+),4X(-)
+Z 1Y,2Y,3Y,4Y (+ towards wrist and arm)
Moment about axis
+MX 1Y(+),3Y(-)
+MY 2Y(+),4Y(-)
+MZ 1X,2X,3X,4X (+)
CALIBRATION MATRIX: CURRENT TIME AND DATE: 14:07 22MAY76
FORCES GIVEN IN LBS. AND MOMENTS IN UNITS OF INCH-LBS.
ROW 1:
-.3842216@-1 .7738081@-3 -.1980125@-3 .2643359@-2
.3910925@-1 .9296865@-3 .2450492@-3 .1941004@-2
ROW 2:
-.2212931@-3 .2937272@-3 .3921106@-1 -.6701423@-3
.1410366@-2 .4863639@-3 -.3878679@-1 .1571425@-2
ROW 3:
-.1230674@-2 .2637714@-1 .1738579@-2 .2676672@-1
.1623723@-2 .2664726@-1 .2004941@-3 .2645674@-1
ROW 4:
.1823379@-2 .4318801@-1 -.8740230@-4 .1541083@-2
.1055043@-2 -.3885803@-1 -.2136039@-2 .1147877@-2
ROW 5:
.2132998@-2 -.1207303@-2 .4674648@-3 -.4275645@-1
-.2940330@-2 -.1396479@-2 .5432162@-3 .3994823@-1
ROW 6:
.3111507@-1 -.3894525@-2 .4818625@-1 .1130393@-3
.4628459@-1 .3162766@-2 .2960590@-1 .1115819@-2
THE FOLLOWING MATRIX EQUATION TOGETHER WITH THE CALIBRATION MATRIX
GIVEN ABOVE CAN BE USED TO RESOLVE THE FORCES AND MOMENTS:
F ← M * ε
where
T
F = (FX,FY,FZ,MX,MY,MZ)
= force/moment vector
M = calibration matrix shown above
T
ε = (ε1,ε2,ε3,ε4,ε5,ε6,ε7,ε8)
= difference in strain gage readings
CALIBRATION DATA FOR JPL FORCE WRIST - CURV MANIPULATOR
FORCE/MOMENT OF 0 4.4 0 3.3 0 0
CURRENT TIME AND DATE: 13:35 22MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
-9.00 52.60 100.00 24.00 37.00 -12.00 -19.00 58.00
-4.00 38.60 50.00 -1.00 -3.00 -39.00 -63.20 -1.00
.00 .52 .00 .00 .00 .00 .00 .00
FORCE/MOMENT OF 0 0 4.4 0 0 0
CURRENT TIME AND DATE: 13:38 22MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
-2.30 52.00 50.00 64.00 36.00 72.00 46.00 103.00
2.70 38.00 .00 39.00 -4.00 45.00 1.80 44.00
.48 .00 .00 .00 .00 .00 .00 .00
FORCE/MOMENT OF 0 4.4 0 30.58 0 0
CURRENT TIME AND DATE: 13:44 22MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
16.00 388.00 104.00 22.00 63.00 -339.80 -15.00 54.00
21.00 374.00 55.00 -3.00 23.00 -366.80 -59.00 -4.00
.00 .00 .00 .00 .00 .42 .00 .00
FORCE/MOMENT OF 4.4 0 0 0 -30.58 0
CURRENT TIME AND DATE: 13:49 22MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
-58.30 9.00 51.00 391.00 93.00 25.00 26.00 -309.00
-53.30 -5.00 1.00 365.00 54.00 -2.00 -18.00 -368.00
.48 .00 .00 .00 .00 .00 .00 .00
FORCE/MOMENT OF 4.4 0 0 0 -3.3 0
CURRENT TIME AND DATE: 13:55 22MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
-66.10 12.00 44.00 62.00 91.00 24.00 38.00 22.00
-61.10 -2.00 -6.00 36.00 52.00 -3.00 -6.00 -37.00
.32 .00 .00 .00 .00 .00 .00 .00
FORCE/MOMENT OF O 4.4 0 4.62 0 18.48
CURRENT TIME AND DATE: 14:02 22MAY76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
-128.00 73.00 -17.00 26.00 -81.00 -25.00 -141.00 60.00
-123.00 59.00 -67.00 .00 -120.00 -52.00 -185.00 1.00
.00 .00 .00 .00 .00 .00 .00 .00
CURRENT TIME AND DATE: 01:07 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4877.30 4874.20 4877.90 4874.10 4879.30 4877.30 4878.80 4879.30
4877.30 4874.20 4877.90 4874.10 4879.30 4877.30 4878.80 4879.30
30.52 26.28 23.30 21.26 23.97 22.90 22.07 21.67
E
CURRENT TIME AND DATE: 01:07 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4877.30 4874.20 4877.90 4874.10 4879.30 4877.30 4878.80 4879.30
4877.30 4874.20 4877.90 4874.10 4879.30 4877.30 4878.80 4879.30
30.52 26.28 23.30 21.26 23.97 22.90 22.07 21.67
CURRENT TIME AND DATE: 13:47 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4067.00 4079.90 4088.20 3976.80 4077.10 4065.00 4017.00 4144.00
3.00 3.10 2.20 2.80 3.10 3.00 3.00 2.90
.47 .67 .67 .67 .47 .47 .47 .00
CURRENT TIME AND DATE: 13:50 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4064.50 4077.00 4086.00 3974.30 4074.50 4062.20 4014.30 4142.00
.50 1.00 .70 .80 .60 .20 .30 .80
.67 .47 .00 .67 .67 .47 .67 .00
TEST 00000
CURRENT TIME AND DATE: 14:01 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4065.20 4078.40 4087.00 3975.00 4075.90 4064.00 4016.00 4143.10
-6.10 -5.60 -6.50 -6.30 -6.00 -6.00 -6.00 -6.10
.00 .67 .47 .47 .47 .00 .00 .82
TEST 00000
CURRENT TIME AND DATE: 14:01 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4065.20 4078.40 4087.00 3975.00 4075.90 4064.00 4016.00 4143.10
-6.10 -5.60 -6.50 -6.30 -6.00 -6.00 -6.00 -6.10
.00 .67 .47 .47 .47 .00 .00 .82
SEA CALIBRATION
CURRENT TIME AND DATE: 15:44 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4033.00 4084.00 4089.00 3972.00 4095.00 4074.00 4027.00 4136.30
-2.00 .00 .70 -1.00 -3.90 1.00 -1.00 -.70
.47 .00 .47 .00 .47 .00 .47 .67
CURRENT TIME AND DATE: 16:12 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3992.80 4076.00 4008.30 3964.00 4174.20 4059.30 4062.30 4129.90
-38.60 -6.00 -79.70 -7.00 81.20 -13.00 37.20 -5.10
.94 .00 .94 .00 .67 .67 .67 .47
CURRENT TIME AND DATE: 16:12 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3992.80 4076.00 4008.30 3964.00 4174.20 4059.30 4062.30 4129.90
-38.60 -6.00 -79.70 -7.00 81.20 -13.00 37.20 -5.10
.94 .00 .94 .00 .67 .67 .67 .47
CURRENT TIME AND DATE: 16:12 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3992.80 4076.00 4008.30 3964.00 4174.20 4059.30 4062.30 4129.90
-38.60 -6.00 -79.70 -7.00 81.20 -13.00 37.20 -5.10
.94 .00 .94 .00 .67 .67 .67 .47
G
CURRENT TIME AND DATE: 16:12 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3992.80 4076.00 4008.30 3964.00 4174.20 4059.30 4062.30 4129.90
-38.60 -6.00 -79.70 -7.00 81.20 -13.00 37.20 -5.10
.94 .00 .94 .00 .67 .67 .67 .47
G
CURRENT TIME AND DATE: 16:12 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3992.80 4076.00 4008.30 3964.00 4174.20 4059.30 4062.30 4129.90
-38.60 -6.00 -79.70 -7.00 81.20 -13.00 37.20 -5.10
.94 .00 .94 .00 .67 .67 .67 .47
FORCE/MOMENT OF 0,0,4.4,0,0,0
CURRENT TIME AND DATE: 16:15 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3912.80 4079.00 3978.00 3970.00 4204.90 4063.30 4140.00 4136.00
-125.30 -3.00 -114.00 -.90 113.90 -8.80 119.00 1.00
1.15 .47 .00 .00 .82 .67 .00 .00
FORCE/MOMENT OF 0,0,4.4,0,0,0
CURRENT TIME AND DATE: 16:15 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3912.80 4079.00 3978.00 3970.00 4204.90 4063.30 4140.00 4136.00
-125.30 -3.00 -114.00 -.90 113.90 -8.80 119.00 1.00
1.15 .47 .00 .00 .82 .67 .00 .00
FORCE/MOMENT OF 0,0,4.4,0,0,0
CURRENT TIME AND DATE: 16:19 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
3916.00 4081.00 3978.50 3972.00 4207.90 4065.00 4139.80 4138.00
-121.40 .00 -112.50 2.00 117.90 -6.00 119.80 4.00
.47 .47 .67 .00 .82 .47 .67 .00
FORCE/MOMENT 0,-2.2,0,-16.06,0,0
CURRENT TIME AND DATE: 16:33 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4935.00 4124.00 4101.00 4012.00 4953.00 4001.00 4021.10 4213.00
850.00 39.00 3.10 29.80 853.80 -69.00 -.40 64.00
.67 .00 .47 .00 .67 .47 .47 .47
FORCE/MOMENT 2.2,0,0,0,-16.06,0,
CURRENT TIME AND DATE: 16:41 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4059.00 4164.00 3212.40 3975.00 4080.30 4125.00 3118.00 4126.30
9.00 65.00 -868.60 -1.00 -5.70 33.00 -866.60 -11.70
.47 .00 .67 .47 .82 .47 .00 .67
FORCE/MOMENT 4.4,0,0,0,-10.12,0,
CURRENT TIME AND DATE: 16:44 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4049.00 4200.00 3529.70 3967.00 4074.20 4181.00 3434.70 4129.70
5.00 108.00 -544.30 -2.90 -4.80 96.00 -543.30 -1.50
.47 .00 .47 .47 .67 .47 .47 .67
FORCE/MOMENT 0,-2.2,0,-3.3,0,-9.35
CURRENT TIME AND DATE: 16:48 22DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4270.10 4359.60 4088.60 4280.00 4283.00 3790.00 4029.00 3951.00
187.40 273.60 -2.40 302.00 194.00 -272.10 4.90 -201.00
.67 .94 .47 .00 .47 .00 .47 .47
FORCE/MOMENT IS 0,0,0,0,0,0
CURRENT TIME AND DATE: 09:19 23DEC76
Strain Gage Readings: Mean, Corrected Mean, Standard Dev.
4085.00 4083.10 4097.00 3968.00 4094.00 4068.00 4016.00 4162.00
4.00 3.10 4.30 4.00 4.00 4.00 4.00 4.00
.47 .47 .47 .00 .00 .00 .00 .00