Validation of multi-dimensional force measurement using zero-compliance mechanism

A novel force measurement instrument is designed and fabricated to validate multi-dimensional force measurement using zero compliance mechanism. In each axis, there is a point of force and a detection point for zero-compliance force measurement. Both the detection point and the point of force are suspended in series and attached with the base frame through leaf springs. When external force is applied at the point of force, it moves from its original position. The motion of the point of force can be regulated by displacing the detection point in the same or opposite direction of the applied force. The control system is designed and implemented to control the movement of the point of force and the detection point in vertical and horizontal direction force measurement. The effect of applied force on the point of force is cancelled to maintain its position by displacing the detection point. The motion of the detection point is controlled in such a way that it displaces proportionally to the applied force. Thus, applied force can be estimated from the displacement of the detection point and zero-compliance is accomplished at the point of force. The effectiveness of the proposed instrument in multi-dimensional force measurement is demonstrated by the experimental results of the horizontal and vertical direction force measurement with good linearity and almost zero interference.