CN106768632A - High accuracy helmet mass property measuring system and its measuring method - Google Patents
High accuracy helmet mass property measuring system and its measuring method Download PDFInfo
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- CN106768632A CN106768632A CN201710010011.1A CN201710010011A CN106768632A CN 106768632 A CN106768632 A CN 106768632A CN 201710010011 A CN201710010011 A CN 201710010011A CN 106768632 A CN106768632 A CN 106768632A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/10—Determining the moment of inertia
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
Abstract
The present invention discloses a kind of high accuracy helmet mass property measuring system and its measuring method, wherein high accuracy helmet mass property measuring system employs many fulcrum Weighing methods, three high-precision weighing sensors are employed, helmet barycenter is calculated with each fulcrum stress is different when inclining beneficial to horizontal positioned；Rotation inerttia uses Inertia Based on Torsion Pendulum Method, the cycle rocked beneficial to magnetic suspension rotation inerttia platform measuring and amplitude, the attenuation rate of adjacent amplitude is calculated, so as to further can be calculated the rotary inertia around rotary shaft.Whole core technology is to devise a set of head mould framework, is easy to the installation and fixation of the helmet；The coordinate-system of the reasonable construction helmet, has write software for calculation, so as to conveniently and efficiently helmet barycenter and rotary inertia are calculated and measured.
Description
Technical field：
The present invention relates to a kind of high accuracy helmet mass property measuring system and its measuring method, it is exclusively for the helmet
Mass property measuring and design, it is capable of the barycenter and rotary inertia of the accurate measurement helmet, belong to high-precision measuring instrument, belong to
The experiment of irregularly shaped object mass property and fields of measurement.
Background technology：
The Mass Distribution of the helmet has a strong impact on the comfortableness and security that it is worn, for pilot and this shadow of spacefarer
Ringing even can threaten life security, it is therefore desirable to the measurement of mass property is carried out to it.Because helmet shape is extremely complex not
Rule, coordinate setting inconvenience, the measurement to its mass property brings very detrimental effect.
For high accuracy centroid measurement instrument, its key technology is the measuring basis i.e. foundation of measurement coordinate system, measurement
The factor such as sensitivity of mechanism and sensor in equipment.At present, high accuracy centroid measurement method can using unbalanced moments with it is many
Fulcrum such as is weighed at the method, and the method for measuring rotary inertia has Inertia Based on Torsion Pendulum Method, Constructional Elements Using Falling Methods, three-line pendulum method, compound pendulum etc..Because of helmet shape
It is special, hemispherical shell object is can be considered, central shaft fixes inconvenience, and most of measurement apparatus all cannot correctly be installed to it
To reach the purpose for accurately measuring.Such as document 1, (Lu Zhihui, Sun Zhiyang, Li Xiangyun wait high accuracy centroid measurement technique studies
[J] war industry's journal, 2009,30 (12):1748-1752), (Zheng Yong, Liu Jianhua, Chang Xiaodong wait mass, barycenter to test to document 2
Instrument adapts to various warhead testing research [J] Aerospace manufacturing technologies, 2013, (1):51-55), (Wang Chao, Tang Wenyan open document 3
Dawn beautiful jade, waits design [J] Chinese journal of scientific instrument of large scale non-revolved body quality characteristic integration measuring systems, 2012,33
(7):Centroid measurement instrument 1634-1640) introduced, and a kind of (the general equipment rotary inertia of Zou Ying, Xiayang of document 4
Measuring method [J] Aerospace Controls, 2008,26 (5):74-76) (Liu Wei, Zhang Yang, Ma Xin wait to be based on binocular vision with document 5
Method for measuring rotary inertia [J] Chinese journal of scientific instrument, 2014,35 (9):Rotation inerttia 1972-1978) introduced
Instrument, all suffers from because of the problem that installation difficulty cannot be used.
The content of the invention：
It is an object of the invention to provide a kind of high accuracy helmet mass property measuring system and its measuring method, can be conveniently
Accurately measure the barycenter and rotary inertia of the helmet, it is desirable to which certainty of measurement is high, range is big, easy to operate.
The present invention is adopted the following technical scheme that：A kind of high accuracy helmet mass property measuring system, by head mould framework, barycenter
Measuring table, magnetic suspension rotation inerttia platform, magnetic suspension controller, data collecting system, computer, data processing are calculated
Software and rotary inertia standard specimen are constituted, and the data collecting system is surveyed with Centroid Measurement Platform and magnetic suspension rotary inertia
Amount platform is connected, and data collecting system is connected with computer, and magnetic suspension controller is connected with magnetic suspension rotation inerttia platform；
The head mould framework includes framework, the head mould being fixed on framework and three conical contacts being arranged on framework
Point, three conical contact points are respectively the first conical contact point, the second conical contact point and triconic contact point, the frame
Frame includes orthogonal first frame surface and the second frame surface, and the head mould and three conical contact points may be contained within the second frame
Towards on the surface of the first frame surface on frame face, Z-direction annulus dorsad is provided with the surface of the first frame surface in the second frame surface
Draw-in groove, is dorsad provided with Y-direction annulus draw-in groove on the surface of the second frame surface in the first frame surface；
The Centroid Measurement Platform includes weighing sensor, sensor installing platform, measuring table, first support and first
Base, the first support is fixedly installed in first base, and measuring table is horizontally fixed in first support and positioned at first
The top of base, the sensor installing platform includes three altogether, and measuring table is arranged in the form of triangular pitch
On, the upper surface of the sensor installing platform is horizontal, and the weighing sensor includes three altogether, and it is distinguished
It is arranged on three sensor installing platforms；
The magnetic suspension rotation inerttia platform includes that rotor, torsion spring, spring step up block, screw, rock platform, radial direction
Magnetic suspension bearing, radial transducer, axial magnetic suspension bearing, axial sensor, thrust disc, line high position encoder, annulus draw-in groove
And second base, second support, the axial magnetic suspension bearing produces magnetic force to lift thrust disc after powered up, so as to drive
Rotor, rock platform, annulus draw-in groove and suspended together installed in the head mould framework to be measured rocked on platform, the axial direction
Magnetic suspension bearing is installed on radial magnetic bearing two ends and plays fixed rotor, and torsion spring is arranged on line high position encoder and turns
The two ends of son are rotated with rotor and do not move up and down, and the spring steps up block and screw to be used to fix torsion spring, the second support
It is fixedly installed in second base, the axial sensor and radial transducer are connected and mutually its transmission with magnetic suspension controller
Data；
When barycenter is measured, head mould framework is positioned on the weighing sensor of Centroid Measurement Platform and weighs, and on framework three
Individual conical contact point and corresponding three weighing sensor upper surfaces；When rotary inertia is measured, head mould framework is arranged on
On magnetic suspension rotation inerttia platform, the outer surface of Z-direction annulus draw-in groove or Y-direction annulus draw-in groove on framework with rock platform
On annulus draw-in groove inner surface docking.
Further, the head mould is used to install the helmet and mask, is formed using resin material 3D printing, is fixed with framework
Together.
Further, each sensor installing platform and the weighing sensor being disposed thereon form one group of combination,
There are two groups to be integrally fixed on measuring table in three groups of combinations, another set can move up and down to control the inclination of head mould framework
Angle.
Further, the rotary inertia standard specimen is regular shape, the rosette of even density.
The present invention is also adopted the following technical scheme that：A kind of measuring method of high accuracy helmet mass property measuring system, bag
Include following steps：
1. start preheating, by system warm-up 30 minutes or so, opens data and calculates treatment software；
2. pair data calculate treatment software systems measured value and carry out clear 0, will install the head mould framework horizontal positioned of the helmet
On Centroid Measurement Platform, after framework is static, peration data calculates treatment software, and three weighing and sensings are read on computers
The data that device is transmitted；
3. one group of weighing sensor for being possible to move up and down is raised, and framework is inclined an angle, after waiting framework static,
Measurement again obtains the data that three weighing sensors are transmitted；
4., according to surveyed data twice, data calculate treatment software and can automatically calculate the quality and centroid position of the helmet；
5. head mould framework is removed and is installed on magnetic suspension rotation inerttia platform, after static, measured value entered
Row clear 0, the helmet is reversed to maximum position unclamp afterwards, and starts timing in synchronization, and data calculate treatment software systems
The time that automatic record is swung and amplitude, after the time of rocking is more than 1min, system is automatically stopped timing, according to measurement number
According to the helmet just can be calculated around Y-axis or the rotary inertia of Z axis；
6. duplicate measurements is repeatedly averaged；
7. system is closed.
The present invention has the advantages that：High accuracy helmet mass property measuring system of the present invention employs many fulcrums and claims
Weighing method, employs three high-precision weighing sensors, is calculated with each fulcrum stress is different when inclining beneficial to horizontal positioned
To helmet barycenter；Rotation inerttia uses Inertia Based on Torsion Pendulum Method, the cycle rocked beneficial to magnetic levitation system measurement and amplitude, calculates adjacent
The attenuation rate of amplitude, so as to further can be calculated the rotary inertia around rotary shaft.Whole core technology be devise it is a set of
Head mould framework, is easy to the installation and fixation of the helmet；The coordinate-system of the reasonable construction helmet, has write software for calculation, so that convenient
Quickly helmet barycenter and rotary inertia are calculated and measured.
Brief description of the drawings：
Fig. 1 is present system schematic diagram.
Fig. 2 is head mould framework.
Fig. 3 is Centroid Measurement Platform.
Fig. 4 is magnetic suspension rotation inerttia platform.
Fig. 5 is four coordinate systems of helmet mass property measurement.
Specific embodiment：
High accuracy helmet mass property measuring system of the present invention rotates used by head mould framework, Centroid Measurement Platform 1, magnetic suspension
Measurement platform 2, magnetic suspension controller 3, data collecting system 4, computer 5, data processing software for calculation 6 and rotary inertia
Standard specimen is constituted.
Head mould framework is the auxiliary installing device of helmet mass property measurement, as shown in Figure 2.Head mould framework include framework 7,
The head mould 8 being fixed on framework 7 and three conical contact points being arranged on framework 7, three conical contact points are respectively
Conical contact point 91, the second conical contact point 92 and triconic contact point 93, framework 7 are the vertical open frame in two sides
Frame, framework includes the frame surface 11 of orthogonal first frame surface 10 and second, and framework 7 is made of lightweight metal material, jail
Gu the structure of light weight again, its quality and rotary inertia be smaller with the tested helmet compared with, as far as possible the noise of reduction measuring system, its
Middle head mould 8 and three conical contact points may be contained within the second frame surface 11 on the surface of the first frame surface 10 of direction, second
Dorsad the surface of the first frame surface 10 is provided with Z-direction annulus draw-in groove 12 in frame surface 11, dorsad second in the first frame surface 10
The surface of frame surface 11 is provided with Y-direction annulus draw-in groove 13.Head mould 8 is used to install the helmet and mask, using resin material 3D printing
Form, be fixed together with framework 7.8 points of head mould is large, medium and small three numbers types, Chinese male pilot head dummy is corresponded to respectively and is surveyed
Measure the 95th hundredths, the 50th hundredths and the 5th hundredths of data.When barycenter is measured, head mould framework is positioned over centroid measurement
Weighed on the weighing sensor 14 of platform 1, three on framework 7 conical contact point and corresponding three weighing sensors 14 upper table
Face contacts；When rotary inertia is measured, head mould framework is arranged on magnetic suspension rotation inerttia platform 2, the Z-direction on framework 7
Docked with the inner surface of annulus draw-in groove 27 rocked on flat 19 outer surface of annulus draw-in groove or Y-direction annulus draw-in groove.Change head mould frame
The orientation of frame, realizes the change of center of gravity and rotation inerttia reference axis.
Centroid Measurement Platform 1 includes weighing sensor 14, sensor installing platform 15, measuring table 16, first support 17
And first base 18, as shown in Figure 3.First support 17 is fixedly installed in first base 18, and measuring table 16 is horizontally fixed on
In first support 17 and positioned at the top of first base 18.Sensor installing platform 15 includes three altogether, and is arranged with triangle
The form of cloth is arranged on measuring table 16, and the upper surface of sensor installing platform 15 must assure that and be horizontal.Weigh
Sensor 14 includes three altogether, and it is separately positioned on three sensor installing platforms 15, and weighing sensor 14 is used to support
With the weight of induction frame 7, supported at three point make framework 7 formed a static balance force system for stabilization, for measure include framework,
Head mould, the helmet, the gravity (weight) of mask.Wherein, each sensor installing platform 15 and the weighing sensor being disposed thereon
14 form one group of combination, have two groups to be integrally fixed on measuring table 16 in three groups of combinations, and another set can be upper and lower
It is mobile, the angle of inclination of head mould framework is controlled with this.
Magnetic suspension rotation inerttia platform 2 includes that rotor 19, torsion spring 20, spring step up block 21, screw 22, rock platform
23rd, radial magnetic bearing 24, radial transducer 25, axial magnetic suspension bearing 26, axial sensor 27, thrust disc 28, line high
Position encoder 29, annulus draw-in groove 30 and second base 31, second support 32, axial magnetic suspension bearing 26 produce magnetic after powered up
Power lifts thrust disc 28, so as to rotor driven 19, rock platform 23, annulus draw-in groove 30 and installed in rocking on platform 23
Head mould framework to be measured suspends together, and axial magnetic suspension bearing 26 is installed on the two ends of radial magnetic bearing 24 and plays fixed rotor
19 effect, the two ends that torsion spring 20 is arranged on rotor 19 with line high position encoder 29 rotate with rotor 19 and do not move up and down, bullet
Spring steps up block 21 and screw 22 to be used to fix torsion spring 20, and second support 32 is fixedly installed in second base 31, described axially to pass
Sensor 27 and radial transducer 25 are connected with magnetic suspension controller 3 and mutually it transmits data.
Data collecting system 4 is used for gathered data, including the gravity measured by weighing sensor 14 and magnetic suspension rotation
Time and amplitude measured by inertia measuring table, and send the data of collection to computer 5.
Data calculate treatment software 6 to be used to recording and processing the data obtained by measurement, can calculate weight, the matter of the helmet
The parameter such as heart position and rotary inertia.The software kit contains quality, center-of-mass coordinate, rotary inertia and each seat of framework and head mould
The database of mark system origin, and store in a computer, it is easy to call at any time.
Rotary inertia standard specimen is regular shape, the rosette of even density, and the rotation being calculated in theory is used to
Amount is considered standard value, for demarcating the coefficient of elasticity and damping ratio rocked.
The measuring method of high accuracy helmet mass property measuring system of the present invention, comprises the following steps：
1. start preheating, by system warm-up 30 minutes or so, opens data and calculates treatment software.
2. pair data calculate treatment software systems measured value and carry out clear 0, will install the head mould framework of the helmet lightly water
On Centroid Measurement Platform 1, after framework is static, peration data calculates treatment software, and three are read on computers for placing flat
The data that weighing sensor is transmitted.
3. one group of weighing sensor moving up and down is raised, and is fixed with fixed block, framework is inclined an angle,
Deng framework it is static after, again measurement obtain the data that three weighing sensors are transmitted.
4., according to surveyed data twice, data calculate treatment software and can automatically calculate the quality and centroid position of the helmet.
5. head mould framework is removed and is installed on magnetic suspension rotation inerttia platform, after static, measured value entered
Row clear 0.The helmet is reversed to maximum position is afterwards unclamped, and start timing in synchronization, data calculate treatment software systems
The time that automatic record is swung and amplitude.After the time of rocking is more than 1min, system is automatically stopped timing.According to measurement number
According to the helmet just can be calculated around Y-axis or the rotary inertia of Z axis.At present, the system can be entered to Y-axis with the rotary inertia of Z axis
Row measurement, X-axis does not have design and installation annulus draw-in groove, wouldn't carry out rotation inerttia.
6., further to improve certainty of measurement, repeatable measurement is repeatedly averaged, and data calculate treatment software can be automatic
Calculate.
7. system is closed.
The computational methods of high accuracy helmet mass property measuring system of the present invention are as follows：
Need to set up coordinate system first, whole measuring system establishes four coordinate systems altogether, respectively frame coordinates system OXYZ,
Human body head coordinate system OEXEYEZE, helmet coordinate system OHXHYHZHAnd rock coordinate system OSXSYSZS, as shown in Figure 5.Four seats
The definition of mark system origin is different, but change in coordinate axis direction is consistent, and X-axis is horizontal forward, Y-axis forward direction level to the left, Z axis it is positive vertically to
On.Wherein, frame coordinates system origin is defined by framework conical contact point, is that the first conical contact point connects along X-axis and triconic
Contact along Y-axis intersection, positioned at one jiao of framework；Human body head coordinate system with number of people position of centre of gravity as origin, positioned at two ears
The point midway of screen point line；Helmet coordinate system is with helmet barycenter as origin；Coordinate system is rocked to rock rotating shaft definition, is two
Rock the intersection point of axle.
1. centroid computing method
The data surveyed according to Centroid Measurement Platform first calculate centroid position, are counted on the basis of frame coordinates system
Calculate.It is assumed that framework (containing head mould) quality is m, during horizontal survey, three weighing sensor institute dynamometry are respectively N1、N2、N3, then may be used
Helmet quality and the helmet centroid position in the horizontal direction are calculated according to statics balance equation：
In formula：m1It is helmet quality；G is acceleration of gravity；X1、Y1、Z1Helmet barycenter respectively under frame coordinates system is sat
Mark；Distance and second conical contact point, triconic contact point of respectively the first conical contact point to Y-axis
To the distance of X-axis.XC、YC、ZCIt is center-of-mass coordinate of the framework (containing head mould) under frame coordinates system.
Weighing sensor institute measured value N moving up and down during further according to inclination measurement3 *And tilt angle theta, just can calculate
Obtain center-of-mass coordinate Z of the helmet in Z-direction1：
Coordinate system is converted into human body head coordinate system again afterwards, you can obtain center of gravity of the helmet under human body head coordinate system
Coordinate.Its size indicates the degree of helmet deviation of gravity center number of people center of gravity.
2. rotary inertia computational methods
Rotary inertia is rocked by magnetic suspension and measured, and is rotated according to measurement gained frames (containing head mould, the helmet)
Cycle T and adjacent amplitude Ai、Ai+1, dampingratioζ, angular frequency and the rotary inertia I that can calculate rotation be respectively：
In formula：K is torsion spring coefficient of elasticity.
Rotary inertia now is subtracted the rotary inertia for rocking platform, framework and head mould, then Coordinate Conversion is carried out to it,
The rotary inertia of other several coordinate systems is converted into as needed.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as of the invention
Protection domain.
Claims (5)
1. a kind of high accuracy helmet mass property measuring system, it is characterised in that：By head mould framework, Centroid Measurement Platform (1), magnetic
Suspension rotation inerttia platform (2), magnetic suspension controller (3), data collecting system (4), computer (5), data processing meter
Calculate software (6) and rotary inertia standard specimen composition, the data collecting system (4) and Centroid Measurement Platform (1) and magnetcisuspension
Floating rotation inerttia platform (2) is connected, and data collecting system (4) is connected with computer (5), magnetic suspension controller (3) and magnetic
Suspension rotation inerttia platform (2) is connected；
The head mould framework includes framework (7), the head mould (8) being fixed on framework (7) and three be arranged on framework (7)
Conical contact point, three conical contact points are respectively the first conical contact point (91), the second conical contact point (92) and the 3rd
Conical contact point (93), the framework (7) includes orthogonal first frame surface (10) and the second frame surface (11), the head
Mould (8) and three conical contact points may be contained within the second frame surface (11) towards on the surface of the first frame surface (10), the
Dorsad the surface of the first frame surface (10) is provided with Z-direction annulus draw-in groove (12) in two frame surfaces (11), in the first frame surface (10)
On the surface of dorsad the second frame surface (11) be provided with Y-direction annulus draw-in groove (13)；
The Centroid Measurement Platform (1) includes weighing sensor (14), sensor installing platform (15), measuring table (16),
One support (17) and first base (18), the first support (17) are fixedly installed in first base (18), measuring table
(16) it is horizontally fixed in first support (17) and positioned at the top of first base (18), the sensor installing platform (15) is altogether
Three are included, and is arranged on measuring table (16) in the form of triangular pitch, the sensor installing platform (15)
Upper surface is horizontal, and the weighing sensor (14) includes three altogether, and it is separately positioned on three sensor peaces
On assembling platform (15)；
The magnetic suspension rotation inerttia platform (2) steps up block (21), screw including rotor (19), torsion spring (20), spring
(22) platform (23), radial magnetic bearing (24), radial transducer (25), axially axial magnetic suspension bearing (26), biography, are rocked
Sensor (27), thrust disc (28), line high position encoder (29), annulus draw-in groove (30) and second base (31), second support
(32), the axial magnetic suspension bearing (26) produces magnetic force to lift thrust disc (28) after powered up, so that rotor driven (19),
Rock platform (23), annulus draw-in groove (30) and suspended together installed in the head mould framework to be measured rocked on platform (23),
The axial magnetic suspension bearing (26) is installed on radial magnetic bearing (24) two ends and plays fixed rotor (19), torsion spring
(20) rotate and do not move up and down, the spring with rotor (19) installed in the two ends of rotor (19) with line high position encoder (29)
Step up block (21) and screw (22) and be fixedly installed in second base (31) for fixing torsion spring (20), the second support (32)
On, the axial sensor (27) and radial transducer (25) are connected and mutually its transmission data with magnetic suspension controller (3)；
When barycenter is measured, head mould framework is positioned on the weighing sensor of Centroid Measurement Platform (1) (14) and weighs, framework (7)
On three conical contact points and corresponding three weighing sensors (14) upper surface；When rotary inertia is measured, head mould
Framework is arranged on magnetic suspension rotation inerttia platform (2), the Z-direction annulus draw-in groove or Y-direction annulus draw-in groove on framework (7)
Docked with annulus draw-in groove (30) inner surface rocked on platform (23) outer surface.
2. high accuracy helmet mass property measuring system as claimed in claim 1, it is characterised in that：The head mould (8) is used for
The helmet and mask are installed, are formed using resin material 3D printing, be fixed together with framework (7).
3. high accuracy helmet mass property measuring system as claimed in claim 2, it is characterised in that：Each sensor is installed flat
Platform (15) and the weighing sensor (14) being disposed thereon form one group of combination, have two groups to be integrally fixed at survey in three groups of combinations
In amount platform (16), another set can move up and down to control the angle of inclination of head mould framework.
4. high accuracy helmet mass property measuring system as claimed in claim 3, it is characterised in that：The rotary inertia standard
Test specimen is regular shape, the rosette of even density.
5. a kind of measuring method of high accuracy helmet mass property measuring system, it is characterised in that：Comprise the following steps
1) starts preheating, by system warm-up 30 minutes or so, opens data and calculates treatment software；
2) calculates data treatment software systems measured value and carries out clear 0, and the head mould framework that will install the helmet lies in a horizontal plane in matter
On heart measuring table, after framework is static, peration data calculates treatment software, three weighing sensors is read on computers and is passed
The data come；
3) one group of weighing sensor that is possible to move up and down is raised, and framework is inclined an angle, after waiting framework static, then
Secondary measurement obtains the data that three weighing sensors are transmitted；
4) according to surveyed data twice, data calculate treatment software and can automatically calculate the quality and centroid position of the helmet；
5) head mould framework is removed and is installed on magnetic suspension rotation inerttia platform by, after static, measured value is carried out clearly
0, the helmet to be reversed to maximum position unclamp afterwards, and start timing in synchronization, data calculate treatment software systems will be from
Time and amplitude that dynamic record swings, after the time of rocking is more than 1min, system is automatically stopped timing, according to measurement data, just
The helmet can be calculated around Y-axis or the rotary inertia of Z axis；
6) duplicate measurements is repeatedly averaged；
7) closes system.
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| CN108645566A (en) * | 2018-08-16 | 2018-10-12 | 孝感市宝龙电子有限公司 | A kind of bullet arrow quality center of mass rotary inertia testboard |
| CN108645566B (en) * | 2018-08-16 | 2023-11-10 | 孝感市宝龙电子有限公司 | Bullet arrow mass center moment of inertia testboard |
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| CN112815900A (en) * | 2021-02-03 | 2021-05-18 | 十堰风神汽车橡塑制品有限公司 | Coordinate system establishing method and rigid body centroid and inertia parameter testing method |
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