3 axis and 6-axis Introduction & Primer

3-Axis and 6-AxisIntroduction & Primer

Keith SkidmoreJune 24, 2015

• Single Axis• 2-Axis –Axial Torsion (Fz, Mz)• 3-Axis – Fx, Fy, Fz • 6-Axis – Fx, Fy, Fz, Mx, My, Mz• 3-Axis Applications• 6-Axis Applications• Q&A

Agenda

• What it measures: Any single Force or Torque• Benefits: Highest accuracy• Limitations: Only measures one axis

Fz

Single Axis

• What it measures: Any two Forces or Torques simultaneously

• Benefits: Off-the-shelf, high accuracy sensors• Limitations: Fixturing / Installation

+

2-Axis Using 2x Single Axis Sensors

• What it measures: Fz and Mz in one sensor• Benefits: Compact design• Limitations: Fixed ratios of Force to Torque

FzMz

Axial Torsion

• What it measures: Forces in all 3 Axis – Fx, Fy & Fz

• Benefits: Compact design• Limitations: Fixed

capacities in each axis

3-Axis

• How it works – 3 single-axis sensors combined into one sensor

• Example designs

3-Axis

• What it measures: Forces and Torques in all axis

• Benefits: Compact design, simplified installation, reduces required engineering

• Limitations: Fixed capacities in each axis

6-Axis

Full wheatstone bridge on each leg

Each channel output is in mV/V

• How it works – 6 full wheatstone bridges• All six legs react to any given load.• Individual load values are calculated using the product

of a all 6 channels of output and a coefficient matrix

6-Axis

• Load in each axis is calculated as the cross-product between the output on each channel and the 36-term coefficient matrix.

• Fx = CH1*CO1 + CH2*CO2 + CH3*CO3 + CH4*CO4 + CH5*CO5 + CH6*CO6

• Fy = CH1*CO7 + CH2*CO8 + CH3*CO9 + CH4*CO10 + CH5*CO11 + CH6*CO12

• Fz, Mx, etc..• There is also a calculation to translate the calculated

moments from the measurement origin to the point of application.

6-Axis

• Simplifies data

BSC8 & Software

• Cutting Force

3-Axis Application

• Friction Testing Machine

3-Axis Application

• Wave Tank Lift & Drag

3-Axis Application

• Wind Tunnel

6-Axis Application

• Ball & Socket

6-Axis Application

6-Axis Application

• Seat Testing

Questions?

Thank You