• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The reconfigurable flexible mechanical system for measuring forces, displacements, velocity or acceleration between two or more objects, characterized by the use of adjustable fixing bases (1), elastic connecting elements (2), measuring elements or transducers (9) and removable fixing means (4, 5). This system makes it possible to join the adjustable fixing bases (1) to the objects separately to be joined later by the elastic connection elements (2) between the adjustable fixing bases (1) mounted on different bodies by removable fixing means (5). The main body of the elastic connecting element (6) is deformed under the axial forces captured by the transducer (9). Said mechanical systems will have the structural geometry with the degrees of freedom, isostaticidad or hyperestheticity suitable for the purpose of the measurement. In addition, the different pieces can be reused. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2651720A1
    申请号:ES201600628
    申请日:2016-07-26
    公开日:2018-01-29
    发明作者:Antoino FERNÁNDEZ ULLOA；Martín PICO LORENZO；Gustavo PALAÉZ LOURIDO
    申请人:Universidade de Vigo；
    IPC主号:
    专利说明:

     5 DESCRIPTION FLEXIBLE AND RECONFIGURABLE MECHANICAL FIXING SYSTEM FOR THE MEASUREMENT OF DISPLACEMENTS AND FORCES TECHNICAL SECTOR The present invention relates to a reconfigurable flexible mechanical system for the measurement of movements and forces between different bodies that allows measuring parameters such as forces or requests, relative and absolute positioning, 10 speed, acceleration between different bodies that should be linked together. 15 Also in the industry and in the investigation many processes require the measurement of these characteristic parameters for their study, monitoring, control and optimization both in their theoretical modeling phase, development, experimentation as well as their control in the final application. By means of the different components of the present invention and their suitable spatial geometric arrangement, it will allow to make a connection interface between the different objects or bodies, and to read the different movements between each other as well as the physical variables through the quantity and quantity transducers. 20 ideal technological features that incorporate flexible joining elements. STATE OF THE TECHNIQUE There are currently a multitude of systems for measuring forces, displacements, speeds, positioning, acceleration, etc., which can be of a generic type or more or less complex specific systems. Simple measurement systems, such as an electrometric gauge, are usually of low average unit cost (depending on the technology used and physical parameters that can be measured) but which does not represent a suitable system to be used directly in a simple application and much less complex since it does not have 30 of all the physical elements, signal processing and / or software applications suitable for it. Specific complex systems, such as a measuring table (EP1522384; W02013073436; KR1020040016173) are systems I I I I I I I I I I I I I I I I I Icomplete, or modular, that are equipped with all physical subsystems, signal and information treatments suitable for direct use, such as the case of concrete machining force measurement. Many of these commercial or research use systems are, in many cases, of high cost of acquisition or rental, either because they are inaccessible due to their own use exclusively by their inventors, or because of the complexity of the system that It cannot be reproducible, or for other reasons that do not allow access. One of the most used and important industrial processes for the realization of both simple and complex parts, directly or intermediately, is the machining of materials by chip removal or by plastic deformation that allows to obtain products with complex surfaces for your industrial As consumer products. The machining with chip removal allows materials to be formed by means of a cutting tool with one or multiple edges when a speed and depth of machining is applied between the material to be machined and the tool itself. In the cutting of the material, a resulting cutting force "R" is generated, which decomposes into two orthogonal forces, called the tangential cutting force in the direction of the movement "Ft" and the normal "Fn" pushing force exerted by the cutting edge. of cut on the material. 20 Although it is possible to obtain the speed and acceleration power consumption data from the different spindles for the movement of the piece with respect to the tool through the Computerized Numerical Control (CNC) unit, the values of these parameters are not precise enough to perform the calculation of "R", "Ft" and "Fn", due to the inertia and friction of the different electromechanical elements and also the introduction of noise by said elements. Therefore, it is not a precise method for determining and monitoring the values of "R", "Ft" and "Fn". On the other hand, the conformation of materials by plastic deformation of the material is a process, which, like the previous one, it is complex the precise determination of the forces involved in the deformation of the material. The calculation results based on different theoretical models of plastic deformation, applied to specific types of plastic deformation forming processes, are disparate with respect to experimental or production tests, and it is necessary to adjust thedata so that the different theoretical models of the process have a good approximation to the real results. The value of the different parameters involved in deformation models, such as speed, direction of deformation, temperature, form factors, etc. and the heterogeneity in general of the metallic materials, makes its determination necessary by experimental tests. On the other hand, processes such as the Simple Incremental Point Deformation (SPIF Simple Incremental Formin) or DSIF (Double Sided Incremental Forming) the theoretical models proposed analytical or by the use of simulation by analysis of 10 finite elements or any other mathematical model, at Like the rest of the machining processes, they need to be validated experimentally and / or adjusted to the results obtained under the same conditions of experimentation and simulation. In both cases the measurement of the resulting force of machining or deformation, as in other cases not described in this document, it is necessary to measure by means of a device that can be adapted to the different needs of the concrete measurement and sufficiently sensitive with a range appropriate to the type of machining, the size, weight of the piece, dimensions and control (CNC, automatic or manual) of the machine. 20 25 30 There are other industrial and non-industrial processes, not described in this document, that also require the measurement of forces (eg embossing, extrusion, punching, etc.) or that do not involve changing their geometry (eg pressure measurement, torsions, measuring benches for measuring motor vibrations, etc). The present invention aims to have a low cost and reconfigurable measurement system, to perform different configurations with the same elements, for adaptation to different processes, applications, different types of transducers, types of measurements to be performed and parameters to be measured. , either temporarily or permanently.5 DESCRIPTION OF THE INVENTION The present invention relates to a flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces, characterized by comprising the following elements: -an elastic joining elements consisting of a main body of cylindrical revolution profile , where measuring elements and / or transducers responsible for the measurement are housed, in turn, at each of the ends of the main body, pivotal joint elements aligned axially to the main body are mounted, which allows the pivoting of the ends of The elastic joint elements on the joint point or axis, eliminating or significantly reducing the shear forces, allowing efforts to be transmitted in the axial direction of the axis of the main body and deforming the main body in the same direction of its axial axis. The union of the pivoting elements with the main body has length adjustment. -a set of adjustable fixing bases that are fixed to the objects to be joined and / or measured, through their lower or upper face by means of fixing means that are passed through holes between the lower and upper surfaces ; while on their side faces the elastic connecting elements are joined through holes by means of removable fixing means. 20 The arrangement and number of the adjustable fixing bases and the elastic joining elements will depend on the linear, two-dimensional or spatial geometry appropriate to the purpose of the measurement and the degrees of freedom that the joint system must have, forming a joint system with zero degrees of freedom or with 1 or more degrees of freedom, adapted to the purpose of measurement. Being the preferred arrangement or assembly 25 is characterized at least by the use of at least one adjustable fixing base (1) fixed on each different object to be measured, and joined by at least one elastic joint element (2). In another preferred embodiment, where two objects are joined by their flat and parallel bases, the set of adjustable fixing bases that are connected to 30 through one or more elastic joining elements, can regulate their horizontal distance (D), the height (C), angle (A) and length (H) of the connecting element5 elastic and its dimensions are linked to the following trigonometric and geometric relationships: sin (A) = (e) / H cosCA) = D / H tang (A) = (e) / o (i) (ii) (iii) If Hmin is the minimum length of the elastic element between the pivot points or axes of the pivot joints when they are fully threaded, we have the value of Hes: H = Hmin + 2 * t (iv) 10 Where, t is the Adjustable thread length range of both pivot joints, E is the distance between the axis of the pivot joint (3) and the adjustable fixing base (1), A is the angle between the joint element and the plane of the base of the adjustable fixing, H is the length between the fixing axes of the pivoting joints of the elastic joint element (2), O is the horizontal projection of H to the plane defined by the base of adjustable fixing (1) and is the projection vertical H to the adjustable fixing plane. 20 Clearing e in (i) and substituting H for (iv) we have: e = (Hmin + 2 * t) .sen (A) + 2.E (v) e = Hmin.sen (A) + 2.E + 2 * t.sen (A) (vi) Likewise with the O parameter you have to: 0 = Hmin.cos (A) + 2 * t.cos (A) (vii) Where the sum of (vi) 2 * t .sen (A) is the maximum regulation of the vertical distance between the upper and lower surfaces and (vii) 2 * t.cos (A) is the horizontal distance between axes of the adjustable fixing bases (1). In another preferred embodiment, the measuring element located in the body 25 of the elastic joint element will depend on the physical parameter to be measured that may be related to deformation, velocity, acceleration, position or a combination thereof, preferably by means of a transducer that is select between strain gauges, piezoelectronics, and inductive.In other preferred embodiments, the pivotal joint system used at the ends of the elastic joint members can be realized in multiple ways, the preferred embodiments of which are: • By standard assembly formed by ball joints with sphere or other types; 5 • Using a ball-shaped end with threaded rod and fit it into a bowl with spherical hollow and screwed to the set of adjustable fixing bases. • Make a spherical hole in the set of adjustable fixing bases 10, in such a way that the thread is eliminated. • Have bushes with spherical bore inserted in holes on the set of adjustable fixing bases. 15 • Combinations of hinges or other elements that allow the pivot of the ends in the three axes, but that prevent their linear displacement in them. In another preferred embodiment, the fixing bases are characterized by being prismatic pieces, with a square base or with a regular polygon base with equal sides. The adjacent faces or surfaces of the bases, comprises having all the same inclination, or having different inclinations with respect to it or with each other. In addition, the adjustable fixing bases comprise being a non-deformable or slightly deformable and resistant metallic material compared to the stresses it must withstand, being able to be made in other types of non-metallic materials. In another preferred embodiment, the holes present the upper and lower faces and their lateral faces of the fixing bases characterized by being blind (of length less than the thickness of the piece in the direction of the hole) or through, with thread machining, smooth or with some polygonal shape, or groove with rounded ends, countersunk or flared on one or two sides, or any other shape that allows the mooring of different objects. Furthermore, the number, shape, diameter, metric and matrix position of said holes in the adjustable fixing bases will depend on the objects to be measured or structural elements that are attached or on the applied loads.In addition, the matrix array of the holes is characterized by being polar, square or rectangular, and arranged within the matrices on a regular or three-way basis, with or without inclination. In another preferred embodiment, the removable fixing means used to join the elastic joint elements to the adjustable fixing bases are characterized by being removable joints that are selected between thymes or bolts or fixed joints such as rivets, rugs, quick systems manual, electrical, hydraulic or other types of fixing. In another preferred embodiment, the fixing means used for joining 10 of the fixing bases to the objects to be measured or joined are characterized by being removable (as shown above) or permanent joining systems such as welding (tig, mig, laser, oxyacetylene, plasma, electrical, ..) or by the use of adhesives. DESCRIPTION OF THE FIGURES 15 For a better understanding of the features of the invention, it is accompanied as an integral part of said description, accompanied by a set of drawings where, for illustrative and non-limiting purposes, a practical embodiment is represented: Figure 1: Isometric view of the set of a flexible mechanical fixation system and 20 reconfigurable for the measurement of displacements and forces formed by two fixing bases and two elastic joining elements. Figure 2: Elevation view, right side, plan and isometric view of the adjustable fixing base Figure 3: Three-dimensional view of the explosion of the components of the elastic joint element 25 Figure 4: Elevation and plan view of the elastic joint element, parametrized dimensions and section. Figure 5: Dimensioning in elevation view of the geometric and dimensional position of the different elements of the flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces. 1 1 I 1 I I I I I I I 1 I I I 1 I5 10 15 20 25 Figure 6: Dimensioning in plan view of the geometric and dimensional position of the different elements of the flexible and reconfigurable mechanical fastening system for the measurement of displacements and forces. Figure 7: Isometric view of a preferred embodiment of an assembly of the flexible and reconfigurable mechanical fastening system for the measurement of displacements and forces formed by an adjustable fixing base and two upper adjustable fixing bases joined to by two elastic joint elements. Figure 8: Dimensioning in elevation view of the preferred embodiment of the mechanism system of Figure 7, with its geometric and dimensional position of the different elements of the flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces. Figure 9: Dimensioning in plan view of the preferred embodiment of the mechanism system of Figure 7 of the geometric and dimensional position of the different elements of the flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces. Figure 10: Isometric view of a preferred embodiment of a measuring table with a straight rectangular base measuring machining forces by reading the deformation of the elastic elements of the fixing system. Figure 11: Elevation and plan view of a measuring table with a straight rectangular base for measuring machining forces. Figure 12: Isometric view of a preferred embodiment of a straight cylindrical measuring table with a circular base for measuring forces. Figure 13: Elevation and plan view of a straight cylindrical measuring table with a circular base for measuring forces. PREFERRED EMBODIMENT OF THE INVENTION In view of the aforementioned figures, and in accordance with the numbering adopted, a preferred embodiment of the present invention is shown, which comprises the parts and elements indicated and described in detail a -I I I I I I I I I I I I I I I I I I I I I I I I I,------------------------------continuation. Thus, as indicated in Figures 1 to 3, there is shown a simple preferred embodiment of the invention, comprising the following elements: - an adjustable fixing bases (1) [Figure 1] allow its fixing on the 5 objects to be joined by removable joining systems (4) [Figure 1] through through holes (13) [Figure 2], fixing the object [Figure 2 by the lower (16) or upper (16A) faces] ]. The adjustable fixing bases have on their side faces (15) [Figure 2] threaded holes (14) [Figure 2] for joining the elastic joint elements (2) [Figure 1] by removable joints (5) [Figure 10 1]. -two elastic joint elements (2) [Figure 1] formed by a main body (6) [Figure 3] that mount on each of its ends pivoting elements in this case some ball joints (3) with threaded rod (17) [Figure 3], axially aligned to the main body (6) [Figure 3], which are fixed by the threaded rod 15 of the ball joints (17) in the internal threaded bore (18) of the coupling sleeve (7) [Figure 3]. This threaded bushing has an external thread (19) for its threaded connection in the threaded holes (20, 21) that are arranged at the ends of the main body (6); that these coupling bushings (7) [Figure 3] together with the internal threads (18) and threaded rod (17) allow a length regulation of the total length 20 between the axes of the ball joints. These markers (3) allow the pivot of the axis of the elastic joint elements and significantly eliminate or reduce the shear forces, allowing the axial forces to be transmitted to the main body (6) [Figure 3] deforming it, and that said body houses the measuring elements or transducers (9) [Figure 3] that measure said deformation. The elastic connecting element 25 is fixed through the ball joints (3) passing through removable fixing means (5) and screwed into the threaded holes (14) arranged on the side faces (15). The adjustable fixing bases (1) are fixed to the surface of each object by contacting the surfaces (16) or (16A) by means of detachable connection systems 30 (4). Between each two adjustable fixing bases (1) [Figure 1], mounted on different objects, they are joined by at least one elastic joint element, and more than one elastic joint element (1) can be mounted on each adjustable fixing base (1). 2) [Figure 7].As mentioned in the explanation section of the invention, the flexible mechanical measuring system between the bodies can be composed of several sets of fixing base and connecting element to achieve isostatic or hyperstatic system, in the event that the efforts on all three axes and depending on the configuration that you want to perform for the same purpose. It could also be completed, another preferred embodiment that the fixing system may have O degrees of freedom, or for example in case of self-stable systems such as a pendular system, with more degrees of freedom, this will depend on the type of movement desired arrange or restrict for the purpose 10 of the measurement or assembly. In this preferred embodiment, the set of adjustable fixing bases that are connected through one or more elastic joining elements as shown in Figure 1 or Figure 7, their horizontal distance (O) can be regulated [Figure 5 and 8], the height (C), the angle (A) and the length (H) of the elastic joint element and its 15 dimensions are linked to the trigonometric and geometric relationships following the formulas: sin (A) = (C) / H cos (A) = D / H tang (A) = (e) / o (i) (ii) (iii) 20 If Hmin is the minimum length of the elastic element between the pivot points or axes of the pivot joints when these are fully threaded, we have the value of Hes: H = Hmin + 2 * t (iv) Where, t is the adjustable thread length range of both pivot joints, E 25 is the distance between the axis of the pivot joint (3) and the adjustable fixing base (1), A is the angle between the connecting element and the plane of the fixing base re gulable, H is the length between the fixing axes of the pivoting joints of the elastic joint element (2), O is the horizontal projection of H to the plane defined by the adjustable fixing base (1) Y e is the vertical projection H to the plane of the adjustable fixing. 30 Clearing e in (i) and substituting H for (iv) we have: e = (Hmin + 2 * t) .sen (A) + 2.E (v) e = Hmin.sen (A) + 2.E + 2 * t.sen (A) (vi)Likewise, with parameter D it is necessary to: D = Hm1n.cos (A) + 2 * t.cos (A) (vii) Where the sum of (vi) 2 * t.sen (A) is the maximum regulation of the vertical distance between the upper and lower surfaces and (vii) 2 * t.cos (A) is the horizontal distance between axes of the adjustable fixing bases (1). 10 The distances F and G [Figures 6 and 9] are established according to the value of D, as can be deduced from the trigonometric ratio (ii): G = D + JG = H.cos (A) + JF = H.sen (A) + 2 * E (viii) (ix) (x) Where J is the width of the adjustable fixing base and F is the projected distance between the fixing bases in the plant. In another possible preferred embodiment, as described in Figures 10 and 11, the reconfigurable flexible mechanical system for measuring the hyperstatic forces is shown, with zero degrees of freedom, in which the object to be joined or measured is it consists of two prismatic bases with a rectangular metal base (7) and (8) with length "L", "W 'thicknesses" e1 "and" e2 "with a separation distance between plates" 1 ", in this case the system of Flexible mechanical measuring device, it comprises the following elements: 20 25 30 • A total of 4 adjustable fixing bases (1) are arranged in the corners on the bottom rectangular base (7) to be joined, using 4 removable joints (4) introduce through the holes (10) of the adjustable fixing bases by threading them to the threaded holes (11) made in the lower rectangular base (7) • While in the upper rectangular base to be joined (8) a total of 8 are arranged adjustable fixing base units (1 A) displaced a distance (O) with respect to the adjustable fixing bases (1) of the base (7), joining in the same way the adjustable fixing bases (1A) using 4 removable joints (4) that are introduced by the holes (10) of the adjustable fixing bases (1A) by threading them to the threaded holes (11) made in the upper rectangular base (8).5 • The connection of the two lower (7) and upper (8) rectangular bases is carried out by means of the adjustable fixing bases (1.1 A) fixed by 8 elastic joining elements (2). The elastic joint elements (2) are joined by removable joints (5) that are introduced through the heads of the ball joints (3) as a pivotal joint element mounted at the ends of the main body of the elastic joint elements (2) ). Another possible preferred embodiment of the invention is that shown in Figures 12 and 13, which is a reconfigurable flexible mechanical system for measuring isostatic forces with zero degrees of freedom, in which the objects to be joined and measured these are two bases formed by two metal cylinders, one lower (7) and another upper (8) of radius "W" and "L" respectively of thickness "E", with a separation distance between plates "1", in in this case the system comprises the following elements: • 3 adjustable fixing bases (1) are fixed on the upper face of the lower cylindrical base (7), while on the lower surface of the upper cylindrical base (8) they are fixed 6 adjustable fixing bases (1A). • The adjustable fixing bases are fixed by removable joints (5) to the faces of the cylindrical bases to be joined (7,8). The removable joints (5) are threaded to the threaded holes (10) that have the bases (7,8). 25 • The connection of the two cylindrical bases (7,8) is carried out by means of the adjustable fixing bases (1,1 A) fixed by means of 6 elastic joining elements (2). The elastic joint elements (2) are joined by removable joints (5) that are introduced through the heads of the ball joints (3) as a pivotal joint element mounted at the ends of the main body of the elastic joint elements (2) ). 
    权利要求:
    Claims (10)
    [1]
    CLAIMS 1. Flexible and reconfigurable mechanical fixing system for the measurement of 5 displacements and forces, characterized by comprising: 10 15 20 - elastic joining elements (2) that consist of a main body (6) with a cylindrical revolution profile, where Measuring elements (9) responsible for the measurement are housed, in turn at each of the ends of the main body (6) pivoting connecting elements (3) are mounted axially aligned to the main body (6), which allows the pivoting of the ends of the elastic connecting elements (2) on the connecting axis, eliminating or significantly reducing the shear forces, allowing the transmission of the forces in the axial direction of the main body axis and deforming the main body in the same direction of its axial axis; -a set of adjustable fixing bases (1) that are fixed to the objects to be joined or measured, through their lower (16) or upper (16A) face by means of fixing (5) that are passed through of holes (13) between the lower and upper surfaces; while on their side faces (15) the elastic joining elements (2) are joined through holes (14) by removable fixing means (4).
    [2]
    2. Flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces, according to claim 1, in which the preferred assembly of the system is characterized at least by the use of at least one adjustable fixing base (1) fixed on each different object to be measured, and joined by at least one elastic connecting element (2).
    [3]
    3. Flexible and reconfigurable mechanical fixing system for the measurement of movements and forces, according to claims 1 to 2, characterized in that the connection between the adjustable fixing bases (1) through one or more elastic connection elements (2) that joins two objects by their flat and parallel bases, you can regulate the horizontal distance (O), the height (C), the angle (A) and the length (H) of the elastic connection element and its dimensions, which are calculated from through the following relationships: 35H = Hmin + 2 * ((iv) Where, Hmin is the minimum length of the elastic element between the pivot points or axes of the pivot joints when they are fully threaded, we have that the value of H is the length between the axes fixing the 5 pivot joints of the elastic joint element (2) and (is the adjustable thread length range of both pivot joints. While the parameter C is calculated as: C = (Hmin + 2 * (). sin ( A) + 2.E (v) Where, C is the vertical projection H to the plane of the adjustable fixing, E is the distance between the axis of the pivot joint (3) and the adjustable fixing base (1), A is the angle between the connecting element and the plane of the base of the adjustable fixing and the sum of 2 "t.sen (A) is the maximum regulation of the vertical distance between the upper and lower surfaces. 15 Likewise with the parameter Or we have: 0 = Hmin.Cos (A) + 2 * t.cos (A) (vii) Where, O is the horizontal projection of H to the plane defined by the base of adjustable fixing (1) AND 2 * t.cos (A) is the horizontal distance between axes of the adjustable fixing bases (1). twenty
    [4]
    4. Flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces, according to claim 1, characterized in that the measurement element (9) located in the main body (6) of the elastic connecting element (2) is a transducer that They are selected from strain gauges, piezoelectronic and inductive. 25 30
    [5]
    5. Flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces, according to claim 1, characterized in that the pivoting joint system (3) used at the ends of the elastic joint element (2) that are selected from: -Set standard ball joint or other types; -Using a ball-shaped end with a threaded stem and fitting this a bowl with a spherical hole and screwed to the adjustable fixing base (1);5 -Make a spherical hole in the adjustable fixing base itself (1), in such a way that the threading thereof is eliminated; -Have spherical hollow bushings that can be inserted into holes on the adjustable fixing base (1); -Combinations of hinges or other elements that allow the pivot of the ends in the three axes, but that prevent their linear movement in them.
    [6]
    6. Flexible and reconfigurable mechanical fixing system for the measurement of movements and forces, according to claim 1, in which the adjustable fixing bases (1) are characterized by being prismatic pieces, with a square base or with a regular polygon base equal-sided; in turn the faces (16, 16A) lateral surfaces of the bases, can all have the same inclination, or have different inclinations with respect to it or to each other. fifteen
    [7]
    7. Flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces, according to claim 6, characterized in that the holes (13,14) present the upper (16A) and lower (16) faces and lateral faces (15) of the Adjustable fixing bases are blind or through, with thread machining, smooth or with some polygonal shape, which allow the mooring to different objects. 20 25
    [8]
    8. Flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces, according to claims 6 and 7, characterized in that the matrix arrangement of the holes (13,14) is characterized by being polar, square or rectangular.
    [9]
    9. Flexible and reconfigurable mechanical fixing system for measuring displacements and forces, according to claims 6 to 8, in which the removable fixing means used (5) to join the elastic connection elements (2) to the adjustable fixing bases (1) are characterized by being removable joints that are selected between screws or bolts or fixed joints.
    [10]
    10. Flexible and reconfigurable mechanical fixing system for the measurement of displacements and forces, according to claims 7 to 9, that the fixing means (4) used to join the adjustable fixing bases (1) to different objects to be measured arecharacterized by being removable joints or permanent joints by means of welding or the use of adhesives.
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    同族专利:
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    引用文献:
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    US6105438A|1998-09-11|2000-08-22|The United States Of America As Represented By The Secretary Of The Navy|Reconfigurable multiple component load measuring device|
    WO2012155282A2|2011-05-17|2012-11-22|Kistler Holding Ag|6-component dynamometer|
    US20130055825A1|2011-08-02|2013-03-07|The US in the name of the Secretary of Agriculture|Recursive Hexapod System and Method for Multiaxial Mechanical Testing|
    FR3001540A1|2013-01-25|2014-08-01|Centre Nat Rech Scient|Force torsor measurement device i.e. hexapod, for use in characterization system of force stress applied on object under test or structure, has feet arranged, so that combined measurement of deformations by gauges determines force torsor|
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