Force measurement system
Force measurement system is provided. It includes: a grinding arm and a stressed layer, the stressed layer being configured to bear a force from the grinding arm; a base and a plurality of elastic bodies, the elastic bodies being fixed between the stressed layer and the base; a deformation sensor, configured to detect deformation of the elastic bodies; and an analysis device, configured to obtain the force on the stressed layer according to a detection result of the deformation sensor and an elastic constant of the elastic body.
1. A force measurement system, comprising:
a grinding arm and a stressed layer, the stressed layer being configured to bear a force from the grinding arm;
a base and a plurality of elastic bodies, the elastic bodies being fixed between the stressed layer and the base;
a deformation sensor, configured to detect deformation of the elastic bodies; and
an analysis device, configured to measure the force on the stressed layer according to a detection result of the deformation sensor and an elastic constant of the elastic bodies;
wherein the stressed layer has a center of stress; and in a direction parallel to a top surface of the stressed layer, there are at least two of the elastic bodies having a same distance from the center of stress; and
a groove is formed in the stressed layer, the groove being configured to receive a calibration weight, and a center of the groove serves as the center of stress.
2. The force measurement system according to claim 1 , further comprising: a grinding disk, fixed on the grinding arm, the grinding arm applies the force to the stressed layer through the grinding disk.
3. The force measurement system according to claim 1 , wherein the stressed layer comprises a grinding pad.
4. The force measurement system according to claim 1 , wherein a number of the elastic bodies is greater than or equal to three.
5. The force measurement system according to claim 1 , wherein a center axis of one of the elastic bodies passes through the center of stress.
6. The force measurement system according to claim 1 , wherein the analysis device is further configured to calibrate a plane position and orientation of the grinding arm, according to a difference of deformation between the elastic bodies.
7. The force measurement system according to claim 1 , wherein in a direction perpendicular to a surface of the stressed layer, orthographic projections of the elastic bodies are entirely coincident with an orthographic projection of a grinding disk.
8. The force measurement system according to claim 1 , wherein the elastic bodies have a same specification.
9. A force measurement system, comprising:
a grinding arm and a stressed layer, the stressed layer being configured to bear a force from the grinding arm;
a base and a plurality of elastic bodies, the elastic bodies being fixed between the stressed layer and the base;
a deformation sensor, configured to detect deformation of the elastic bodies; and
an analysis device, configured to measure the force on the stressed layer according to a detection result of the deformation sensor and an elastic constant of the elastic bodies;
wherein the stressed layer has a center of stress; and in a direction parallel to a top surface of the stressed layer, there are at least two of the elastic bodies having a same distance from the center of stress; and
a center axis of one of the elastic bodies passes through the center of stress.
10. The force measurement system according to claim 9 , further comprising: a grinding disk, fixed on the grinding arm, the grinding arm applies the force to the stressed layer through the grinding disk.
11. The force measurement system according to claim 9 , wherein the stressed layer comprises a grinding pad.
12. The force measurement system according to claim 9 , wherein a number of the elastic bodies is greater than or equal to three.
13. The force measurement system according to claim 9 , wherein the analysis device is further configured to calibrate a plane position and orientation of the grinding arm, according to a difference of deformation between the elastic bodies.
14. The force measurement system according to claim 9 , wherein in a direction perpendicular to a surface of the stressed layer, orthographic projections of the elastic bodies are entirely coincident with an orthographic projection of a grinding disk.
15. The force measurement system according to claim 9 , wherein the elastic bodies have a same specification.
16. A force measurement system, comprising:
a grinding arm and a stressed layer, the stressed layer being configured to bear a force from the grinding arm;
a base and a plurality of elastic bodies, the elastic bodies being fixed between the stressed layer and the base;
a deformation sensor, configured to detect deformation of the elastic bodies; and
an analysis device, configured to measure the force on the stressed layer according to a detection result of the deformation sensor and an elastic constant of the elastic bodies, and further configured to calibrate a plane position and orientation of the grinding arm, according to a difference of deformation between the elastic bodies;
wherein the stressed layer has a center of stress; and in a direction parallel to a top surface of the stressed layer, there are at least two of the elastic bodies having a same distance from the center of stress.
17. The force measurement system according to claim 16 , further comprising: a grinding disk, fixed on the grinding arm, the grinding arm applies the force to the stressed layer through the grinding disk.
18. The force measurement system according to claim 16 , wherein the stressed layer comprises a grinding pad.
19. The force measurement system according to claim 16 , wherein a number of the elastic bodies is greater than or equal to three.
20. The force measurement system according to claim 16 , wherein in a direction perpendicular to a surface of the stressed layer, orthographic projections of the elastic bodies are entirely coincident with an orthographic projection of a grinding disk.