EP3762680A1 - Mesure de variatons mécaniques - Google Patents

Mesure de variatons mécaniques

Info

Publication number
EP3762680A1
EP3762680A1 EP19708090.6A EP19708090A EP3762680A1 EP 3762680 A1 EP3762680 A1 EP 3762680A1 EP 19708090 A EP19708090 A EP 19708090A EP 3762680 A1 EP3762680 A1 EP 3762680A1
Authority
EP
European Patent Office
Prior art keywords
resistor
resistors
operational amplifier
input
change
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19708090.6A
Other languages
German (de)
English (en)
Inventor
Gernot Nitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of EP3762680A1 publication Critical patent/EP3762680A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
    • G01B7/18—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge using change in resistance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/108—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving resistance strain gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/225—Measuring circuits therefor

Definitions

  • the present invention relates to measuring mechanical changes.
  • the invention provides a device, an arrangement, a use and a method.
  • strain gauges or strain gauges, abbreviated DMS
  • DMS strain gauges
  • the object of the present invention is to improve the measurement of mechanical changes and / or to make them more flexible.
  • an apparatus for measuring mechanical changes there is provided an apparatus for measuring mechanical changes
  • At least one first resistor adapted to convert a mechanical change into a change in its resistance value
  • the at least one first resistor and the operational amplifier are connected such that the at least one first resistor is connected to the operational amplifier Input resistance is used and the operational amplifier at an output delivers or can deliver a measurement result.
  • the first resistor is a strain gauge.
  • strain gages change their ohmic resistance when stretched, for example, in a mechanical change experienced by a component to which they are attached.
  • the first resistor may also be an inductive resistor or a capacitive resistor. While embodiments of the present invention will be explained below mainly by means of a DMS, the invention is not limited to the use of DMS.
  • the first resistor is fastened or attachable to a component such that a mechanical change of the component can bring about or bring about the change in the resistance value of the at least first resistor.
  • the strain gauge when using a strain gauge, would typically be mounted on a surface of the component such that the length of the strain gauge changes with a mechanical change of the component.
  • the mechanical change of the component on a change in a dimension in at least one dimension and / or bending and / or torsion of the component is to be understood here in particular as meaning, for example, that the length of the component (for example a rod) changes, to which the first resistor is attached. This is stretched by it. Even with a bend or torsion (again, for example, a rod), depending on the attachment of the first resistor to the component, an elongation of the first resistance may result.
  • the first resistor may be attached to the device in a particular manner: at least a portion of the first resistor will respond to a change in resistance in a first direction (e.g.
  • the first resistor is then preferably attached to the component such that this first direction subtends an angle x with a parallel to the axis of torsion, where 0 ⁇ x ⁇ 90 degrees, preferably 10 degrees ⁇ x, more preferably 30 degrees ⁇ x, more preferably 40 degrees ⁇ x and / or preferably x ⁇ 80 degrees, more preferably x ⁇ 60 degrees, more preferably x ⁇ 50 degrees.
  • a first electrical connection of the first resistor (or in the case of the use of a plurality of resistors, in each case a first electrical connection of the resistors) is coupled to an input of the operational amplifier.
  • a second electrical terminal of the first resistor (or resistors) is provided to be electrically coupled (each) to an input electrical voltage.
  • the device is set up to measure different, in particular different, mechanical changes of the component by changing the respective input voltage for the at least first resistor.
  • the input voltage for the at least first resistor may be fed back to infer from the value of the applied input voltage and the value of the returned voltage to the voltage actually applied to the at least first resistor. This allows more accurate measurements. This will be particularly noticeable when relatively long cables (e.g., several meters long, several tens of meters, or over 100 meters long) are used to connect the first resistor to its input voltage.
  • the device has a DA converter for providing the respective input voltage for the at least first resistor. This allows a particularly user-friendly choice of the input voltage for each resistor.
  • the device has a shunt resistor, which is connected in parallel with the at least first resistor or can be switched. This can be used to calibrate the circuit.
  • the device has at least 2, preferably at least 3, more preferably at least 4, further preferably at least 8, 12 or 16 resistors, wherein the resistors are connected in parallel and serve as input resistors for the operational amplifier.
  • resistors are connected in parallel and serve as input resistors for the operational amplifier.
  • the device is set up to be operated in a measuring mode, wherein in measuring mode, in each case two input voltages are applied to two of the resistors, which are substantially equal in magnitude, but of opposite polarity.
  • measuring mode in each case two input voltages are applied to two of the resistors, which are substantially equal in magnitude, but of opposite polarity.
  • the device is set up to be operated in a first test mode, wherein in the first test mode, only one of the resistors has an input voltage that is different from ground, and the input voltage is grounded on all other resistors.
  • the device includes an additional test resistor that may be connected in parallel with the at least first resistor, wherein the device is configured to operate in a second test mode, wherein in the second test mode, an input voltage different from ground is applied only to the test resistor and on all other resistors, the input voltage is grounded, and wherein in measurement mode, the input voltage for the test resistor is grounded.
  • the functionality of the operational amplifier can be checked.
  • the test resistor would have no significant impact on the measurement result, because applying ground as input voltage to the test resistor will "turn it off".
  • the device comprises at least two resistors and in a first (amplification) stage two operational amplifiers, at least one of the at least two resistors serving as input resistance to the two operational amplifiers and the outputs of the two first stage operational amplifiers electrically connected to inputs, respectively a third operational amplifier, the third operational amplifier representing a second (amplification) stage and supplying or delivering a measurement result at an output.
  • an apparatus for measuring mechanical changes comprising: a component; and one of the devices described above, wherein the at least first resistor is attached to the component, preferably glued.
  • the resistor is preferably attached flat to a surface of the component, for example glued.
  • the forces that occur during a mechanical change of the component and transferred to the resistor spread over the entire contact area between the component and resistor.
  • the component has a 6D force-moment sensor with multiple measurement spokes, each measurement spoke being provided with a plurality of resistances of the measurement device.
  • the component has a flex spline of a Harmony Drive transmission.
  • the invention in another aspect, relates to the use of a resistor configured to convert a mechanical change into a change in its resistance as an input resistance to an operational amplifier.
  • the invention relates to a method of measuring mechanical changes, comprising:
  • FIG. 1 a circuit according to an embodiment of the present invention
  • Fig. 6 shows a circuit according to an embodiment of the present invention
  • Fig. 7 a circuit according to an embodiment of the present invention.
  • FIG. 8 shows a circuit according to an embodiment of the present invention
  • FIG. 10 shows a circuit according to an embodiment of the present invention
  • Fig. 1 1 an arrangement of resistors on a component according to an embodiment of the present invention
  • Fig. 1 shows a circuit according to an embodiment of the present invention.
  • the measuring circuit 10 has a bipolar-fed operational amplifier 1 with an inverting input 2, a non-inverting input 3 and an output 4.
  • the non-inverting input 3 is at ground (0V).
  • a node 7 of the circuit 10 is coupled (directly) to the inverting input 2.
  • the output voltage U_off can be removed.
  • a resistor RO is electrically (directly) coupled to the output 4 and the node 7.
  • Also coupled to the node 7 is at least one input resistor - in the example shown four input resistors R1, R2, R3 and R4.
  • a first electrical connection 5 is indicated, which is electrically coupled (directly) to the node 7.
  • the input resistors are each electrically (directly) connected to an input voltage U1, U2, U3 and U4.
  • a second electrical connection 6 is indicated, which is electrically coupled (directly) to the input voltage U1.
  • Further input resistors could be connected in a corresponding manner parallel to the illustrated resistors R1 to R4.
  • the circuit of Figure 1 with only one operational amplifier 1 can be regarded as a single-stage amplifier circuit.
  • the value of the negative feedback resistance R0 in relation to the input resistors R1 to R4 determines the gain.
  • the resistors R1 to R4 are not fixed resistors, but strain gages.
  • the circuit can be used to detect mechanical changes that cause changes in the resistance of the strain gages, because a change in the resistance values of the resistors R1 to R4 affects the output voltage U_out.
  • the input voltages may be provided, for example, by a DA converter.
  • strain gauges were chosen for resistors R1 to R4, whose resistance values are approximately equal, eg 350 W.
  • the weighting and the sign of the change of the resistors R1 to R4 can be controlled individually.
  • DMS the effect of the change in resistance of the DMS used on the output signal can be increased as desired. For a Wheatstone bridge this is not possible beyond the four basic bridge resistances.
  • strain gages have an "antagonist".
  • a counterpart to a first DMS is preferably a second DMS, which is connected to an opposite, approximately the same input voltage as the first DMS. This can be used in particular to minimize thermal drifts: Resistance changes of a first DMS due to temperature changes are compensated by corresponding resistance changes of a second DMS.
  • the wire lengths of two wired as counterparts DMS are preferably about the same to choose, so that temperature changes cause no offset of the output voltage.
  • the role of the opponent is not fixed but can be redistributed in successive measurements by changing the polarity of the input voltages between the DMSs involved.
  • R1 may be the opponent of R2 and R3 may be the antagonist of R4.
  • the R1 can take on the role of the opponent of the R3 and the R2 the counterpart of the R4.
  • a fixed resistor As a variant of the embodiment of FIG. 1, one could also use a fixed resistor as the counterpart of a DMS. Preferably, however, is taken into account that fixed resistors change their resistance depending on the temperature under certain circumstances differently, in particular change significantly different, as DMS, which in their meager stretching on a material (ie the material of the component, on which DMS is attached) can match. Overall, a fixed resistor can be expected as an opponent to a DMS with larger drifts.
  • the strain gauges can generally be individually weighted. As a variant to an equal (but opposite) weighting of a DMS and its counterpart, it would be possible to choose an unequal weighting by different input voltages. This can be used to achieve certain effects, e.g. to consider asymmetrical geometries of a component. For example, if a change in length of a pipe having circumferentially different wall thicknesses is to be measured by an arrangement according to Figure 1, it may be useful to have a first strain gauge attached to a first pipe section having a first wall thickness different from a suitable input voltage to weight as a second DMS, which is attached to a second pipe section with a second (different from the first wall thickness) wall thickness. Preferably, however, the weights are also similar here, for example with a deviation of at most 3%, 5% or 10%, in order to limit thermal drifts to an acceptable level.
  • Fig. 2 shows an arrangement of resistors (DMS) on a component according to an embodiment of the present invention.
  • DMS resistors
  • a round rod (or tube) 15 which is indicated in cross section.
  • four strain gauges (SG 1 to SG 4) are evenly distributed around the circumference of the rod.
  • the strain gages are attached longitudinally to a surface of the rod.
  • the DMS are preferably connected flat to the surface of the rod, for example, glued to the rod.
  • a change in length of the portion of the rod to which a DMS is attached causes a change in length of the corresponding DMS and thus a change in the resistance value of the DMS, which can be evaluated according to the figure 1.
  • two axes 20, 21 are indicated in Figure 2, around which the rod 15 can bend. If you switch the strain gauges 1 and 4 with positive weighting and the DMS 2 and 3 with negative weighting measures the bending moment about the axis 20. In turn, you measure the bending moment and the axis 21, if the DMS 3 and 4 positive weights and the DMS 1 and 2 negative. This change in weighting can be done by simply changing the sign of the input voltages applied to the respective DMS. In a variant (not shown) could attach the DMS similar to Figure 2, but alternately obliquely at an angle of 45 ° to about 80 ° to the longitudinal axis of the rod.
  • angles between 0 ° and 90 ° can be selected. Useful angle values can be determined empirically for each application. In many cases, the angles will be between 10 ° and 80 °, or between 30 ° and 60 °, or between 40 ° and 50 °. For example, the angle may be substantially 45 °.
  • bilateral CMOS switches can be used to switch the input voltages. Preferably, these are used with downstream impedance transformers.
  • An example of such an impedance converter is shown in FIG. 3, the CMOS switch being indicated by reference numeral 17.
  • Two different input voltages U1 a and U1 b are applied to the inputs of the CMOS switch.
  • An output of the CMOS switch is coupled to a non-inverting input of an operational amplifier 18 (this operational amplifier 18 is not to be confused with the operational amplifier 1 of FIG. 1).
  • An output 19 of the operational amplifier 18 is connected in a manner known per se to the inverting input of the operational amplifier 18 fed back.
  • the output 19 serves as an input voltage U1 for the strain gauge 1 (or R1) of FIG. 1.
  • Fig. 3 switching can be made, for example, with a frequency of several tens of kilohertz, which is sufficient for the quasi-simultaneous measurement of mechanical variables in many cases.
  • the separation of the measured quantities at the output 4 can take place by AD conversion of the output voltage U_out of the measuring amplifier, if appropriate after a certain settling time respectively after switching over the input voltages of the strain gauges.
  • the control of the CMOS switches, the AD converter and a digital output interface (not shown) as well as a processing of the measurement data in physical units can take place via a microcontroller (not shown) integrated in the sensor.
  • the user would not notice the rapid switching of the input voltages of the strain gauges in practical measuring mode. In other words, the user would typically feel that the various measurements (bending about different axes, torsion, etc.) are essentially simultaneous and output / displayed at the same time.
  • FIG. 4 shows a further example, which is based on the example of FIG.
  • a portion of the surface of the rod 15 is shown as a surface on which two strain gages 30, 31 are arranged perpendicular to each other.
  • DMS 30 is arranged along the longitudinal direction of the rod 15 ("linear").
  • DMS 31 is arranged transversely to the longitudinal direction of the rod 15.
  • the arrangement of Figure 4 can be used for the measurement of the bending moments and the tensile / compressive force on the round bar 15. It makes sense to use three or four such groups, which are arranged distributed at 120 ° or 90 ° on the circumference of the rod.
  • the signs (input voltage) for the weighting of the strain gauges can be selected as follows, for example:
  • FIG. Figure 5 shows the surface (or portion of the surface) of the rod 15 on which four pairs of strain gauges are arranged.
  • Each pair has a respective DMS 33, 35, 37, 39 transversely to the longitudinal direction of the rod 15 and a respective DMS 32, 34, 36, 38 which is inclined with respect to the longitudinal direction of the rod 15 by an angle between 0 ° and 90 ° , For example, about 45 ° (see also the variant of Figure 2 with respect to the possible angle).
  • the inclined DMS are alternately inclined in one or the other direction, so DMS 32 and 36 to the right and DMS 34 and 38 to the left.
  • the weights of the strain gauges can be chosen as follows:
  • U_off - U1 (R0 / R1) - U2 (R0 / R2) - U3 (R0 / R3) - U4 (R0 / R4)
  • U_off / U_ein - R0 / (R + AR1) - R0 / (R + AR2) + R0 / (R + AR3) + R0 / (R + AR4).
  • alternating voltages as input voltages to e.g. switch on inductive or capacitive input resistors.
  • a mechanical change would typically affect the inductive resistance such that a ferromagnetic core pushes into or is at least partly pulled out of a coil of the inductive resistor, resulting in a change in its resistance value.
  • a change in its resistance would typically be caused by changes in the spacing of two plates of a capacitor of the capacitance due to mechanical changes.
  • inductive or capacitive input resistors When using inductive or capacitive input resistors, however, a conflict of interest between the AC frequency and the switching frequency of the weights of the input voltages may arise.
  • the phase shifts require a certain amount of time for a sign change of the weights, since inductive or capacitive measuring resistors are more susceptible to oscillations As ohmic strain gages, they have resistances that can be switched within the range of the possible slew rates of the impedance transformers, for example within a few microseconds.
  • the single-stage circuit of FIG. 1 represents a basic circuit which does not suppress common-mode voltages at the inputs (eg mains hum).
  • a two-stage circuit according to FIG. 6 can be used.
  • This circuit again comprises, in a first (amplification) stage, an operational amplifier 1 with a negative feedback resistor ROa and input resistors.
  • only two input resistors R1 and R2 are connected to the inverting input of the operational amplifier 1 and corresponding input voltages U1 and U2.
  • the circuit can also have other input resistors.
  • the circuit has a second operational amplifier 100, to which in turn a negative feedback resistor ROa and input resistors R3 and R4 are connected.
  • the second operational amplifier 100 is also part of the first (amplification) stage.
  • the outputs of the operational amplifiers 1 and 100 are respectively connected via resistors R5 to the inverting and non-inverting inputs of a third operational amplifier 200, which constitutes a second (amplification) stage.
  • Whose output is connected via a further negative feedback resistor ROb to the inverting input of the third operational amplifier 200.
  • the non-inverting input of the third operational amplifier 200 is connected to ground (0V) via a further resistor ROb.
  • the output voltage U_aus can be removed.
  • two input amplifiers 1, 100 are used for two DMS groups.
  • the difference of the output signals is then formed and amplified in a further stage.
  • the second stage gain can also be realized by a fully integrated instrument amplifier whose gain is set with only a single external resistor.
  • FIG. 7 shows a variant of the circuit of FIG. 1.
  • the input voltages U1 to U4 are fed back via sensor lines and can then be measured as returned voltages U1 S to U4S.
  • Such a circuit may be used, in particular, for relatively long cables between the voltage source (s) providing the input voltages U1 to U4 and the input resistors R1 to R4. Likewise, this circuit is used with increased demands on the accuracy of measurement. In this circuit, it is assumed that the voltage losses in the cable from an input voltage source (Ui) to the corresponding input resistance (Ri) are about as large as the voltage losses in the corresponding feedback sensor line.
  • the mean value between the (applied) input voltage Ui and the returned sensor voltage UiS can be assumed to be actually applied to the input (in the figure on the left) input 6 of an input resistor Ri.
  • the measured value display of the measuring amplifier can be corrected accordingly.
  • FIG. 8 shows a further circuit variant based on the circuit of FIG. 1.
  • a shunt resistor 40 is additionally used, which can be connected in parallel by a switch 41 to a DMS (here R1).
  • DMS digital signal processor
  • switch 41 When switch 41 is closed the result is a defined detuning of the measuring circuit, ie when the shunt resistor 40 is switched on, the output voltage U_out makes a jump.
  • a calibration of the measuring amplifier or a test of the circuit for correct function can be carried out.
  • FIGS. 9 and 10 show a further circuit variant based on the circuit of FIG. 1.
  • FIGS. 9 and 10 additionally show a test resistor 42 (R test). This can be supplied via a switch 43 with an input voltage.
  • the switch 43 connects the test resistor 42 either to a test voltage U_test (FIG. 9) or to ground (0V, FIG. 10).
  • the test resistor 42 is also connected to the node 7 and thus also to the inverting input of the operational amplifier 1.
  • test resistor 42 In a test mode, shown in FIG. 9, (only) the test resistor 42 is connected to an input voltage different from ground. All other input resistors R1 to R4 are grounded with their inputs. In particular, the correct operation of the operational amplifier 1 can be checked in this test mode.
  • the input of the test resistor 42 by the switch 43 is grounded.
  • the other input resistors R1 to R4 can then be connected to their respective ground different input voltages.
  • the test resistor then does not (essentially) affect the measurement, so that the circuit behaves as in FIG.
  • FIG. 11 shows an application example of the present invention.
  • the 6D force-moment sensor 50 has a central tool hub 54 connected to four measuring spokes 56. At their outer ends, the measuring spokes 56 are each connected to a central region of a leaf spring 58. The sensor also has four housing screw 52 points. The four leaf springs 58 extend between the Gezzauseanschraubddlingen 52.
  • a plurality of DMS 60 are arranged. In the example shown, two strain gages 60 are located on each measuring spoke 56 on the visible side of the arrangement, each strain gauge 60 being inclined by approximately 45 ° to a center line of the measuring spoke 56.
  • On each measuring spoke 56 is a DMS 60 inclined to the right and a DMS 60 to the left. Overall, therefore, eight DMS 60 are arranged on the visible side of the arrangement. In addition, located on the invisible, the observer side facing another eight DMS 60 in a corresponding or similar arrangement, a total of sixteen DMS 60th
  • the DMS 60 of two adjacent measuring spokes each form their own 6D sensor. This creates two redundant 6D sensors.
  • forces and / or moments in the measuring spokes can be measured by the strain gages 60 when the middle tool hub 54 moves relative to the housing screw-on points 52.
  • the measurements can be evaluated by the circuits described above.
  • the bending moments in two planes, the torsional moment and the forces in three coordinate directions can be measured in each case.
  • FIG. 12 shows another application example of the present invention.
  • FIG. 12 shows, in a simplified representation, a Harmony Drive transmission 70 or a part thereof.
  • four strain gauges 74 are mounted in two DMS groups that can be used for torque measurement. Within one group, the two strain gages 74 are rotated by 90 ° with respect to each other.
  • the DMSs 74 of a group are arranged crosswise. The two groups are offset from each other by 90 ° in the circumferential direction of the Flexspline 72. Two DMS 74 (one of each group) are thus aligned in the circumferential direction. These are in the circumferential direction perpendicular to the other two DMS 74th
  • Each two circumferentially aligned DMS 74 can be evaluated by corresponding input voltages of opposite sign to each perpendicular thereto two other strain gages.
  • interference harmonics with twice and four times the rotational frequency of the wave generator of the Harmonie Drive gearbox can be created.
  • the strength of the compensation can be adjusted by the duration of the weighting and / or by the magnitude of the weighting. For example:
  • strain gages 1 and 2 as well as strain gages 3 and 4 (first line of the table) produces measuring signals which are proportional to the applied torque for a fixed period of time.
  • the weighting with the same sign of the strain gauges 1 and 2 or 3 and 4 produces measurement signals that are proportional to the noise components for an adjustable short period of time.
  • the interference harmonics can be largely removed or significantly reduced in the mean value of the temporal overall signal course.
  • the switching takes place rapidly in relation to the desired bandwidth of the useful signal and to the engine rotational frequency, e.g. in the range of several kilohertz.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne un dispositif de mesure de variations mécaniques qui comprend : au moins une première résistance destinée à convertir une variation mécanique en une variation de sa valeur de résistance ; et au moins un amplificateur opérationnel. L'au moins une première résistance et l'amplificateur opérationnel sont reliés de telle sorte que l'au moins une première résistance sert de résistance d'entrée à l'amplificateur opérationnel et l'amplificateur opérationnel délivre ou puisse délivrer un résultat de mesure en sortie. La première résistance est par exemple une jauge de contrainte ou un extensomètre qui peut être fixé à un composant.
EP19708090.6A 2018-03-05 2019-02-27 Mesure de variatons mécaniques Withdrawn EP3762680A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018203251.3A DE102018203251B4 (de) 2018-03-05 2018-03-05 Messen von mechanischen Veränderungen
PCT/EP2019/054799 WO2019170483A1 (fr) 2018-03-05 2019-02-27 Mesure de variatons mécaniques

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EP (1) EP3762680A1 (fr)
CN (1) CN111819416A (fr)
DE (1) DE102018203251B4 (fr)
WO (1) WO2019170483A1 (fr)

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CN113080923B (zh) * 2021-03-23 2024-04-02 桂林电子科技大学 一种基于电桥法的等效生物电阻抗测量方法
CN114918921B (zh) * 2022-06-08 2024-01-26 苏州艾利特机器人有限公司 一种冗余检测的力传感器及机器人

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DE102018203251A1 (de) 2019-09-05
WO2019170483A1 (fr) 2019-09-12
US20210372870A1 (en) 2021-12-02
DE102018203251B4 (de) 2020-07-02
CN111819416A (zh) 2020-10-23
US11549855B2 (en) 2023-01-10

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