Measuring Range/Introduction of Force

A 6-Component Dynamometer Measures

the three components of all the resulting forces acting
on the dynamometer, their direction but not their posi-
tion in space
the three components of the resulting moment vector
based on the coordinate origin.

5.3 3-Component Force Measurement Using a Single Force Sensor

The maximum measuring range of an individual preloaded
3-component force sensor can only be utilized when the
line of action of the resulting force vector runs through
the center of the sensor, i.e. the origin of the coordinate
system.
If the line of action is outside the zero point, then a mo-
ment is produced with regard to this zero point. The quartz
crystal experiences an unevenly distributed load.
The presence of moments reduces the force measuring
range accordingly.

Force application point

Fig. 12: Multi-component measuring system

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 3-Component Force Link, Type 9347C

When the force application point and the three compo-

nents of the resulting force are known, the active moments
can be calculated as follows:

Mx = Fz ay Fy az
My = Fx az Fz ax
Mz = Fy ax Fx ay

When calculating the moments, it is essential to take into

account the plus or minus prefixes of both coordinates and
force components.

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Measuring Range/Introduction of Force

Application Example
The intention is to install a 3-component force link Type
9347C in the wrist of a robotic arm. The force application
point of the process force is known and estimates of the
anticipated forces are available. The 3-component force
link is also loaded with moments due to the eccentric force
application point. The three components of the resulting
moment vector, based on the zero point of the coordinate
system, can be calculated from the estimate of the force.

Force link Type 9347C

Coefficient of friction PH
Preload force Fv 70 kN
0,214

Force application point see Fig. 12

Coordinates ax 0,02 m
ay 0,04 m
az 0,05 m

Process forces Fx 500 N

Fy 800 N
Fz 1 500 N

Moments Mx = Fz ay Fy az = 100 Nm
My = Fx az Fz ax = 55 Nm
Mz = Fy ax Fx ay = 4 Nm

Shear force Fs = FFxx22+ FyFy

2
2 = 943,4 N

Total force F = FFx2

x 2+FFy
2
y 2+ FzFz
2
2 = 1 772 N

Fz total on sensor Fztot = Fv + Fz = 71,5 kN

Ratio Fs/Fv + Fz v= Fs
Fv + Fz = 0,0132

Max. shear force Fsmax. = PH (Fv + Fz) = 15,3 kN

Bending moment Mb = Mx
M 2
x 2+ MMy
y
2
= 114,1 Nm

Using the following graphics, a check is to be carried out to

ensure that the eccentric loading of the sensor will not
overload the measuring element.
The maximum possible moment loads are dependent on
the preload force of the sensor as well as on the loading of
the resulting force vector.

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 3-Component Force Link, Type 9347C

Fig. 13: Nomogram to determine the max. possible mo-

ment load

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Measuring Range/Introduction of Force

Result
max. possible bending moment
Mb = MMx 2
x 2+MMy
y
2
= 142 Nm

max. possible moment

Mz = 97 Nm

The sensor load is within the specifications. The bending

moment load is approximately 80,3 %, the moment load
Mz approximately 4,1 %.

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