JP2007139522A - Load displacement calculation device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a load displacement calculation device capable of generating a transformation matrix for calculating the amount of deformation from a load having high reliability, while enabling miniaturization and simplification of a device constitution. <P>SOLUTION: This load displacement calculation device 1 includes support means 16, 20 for supporting an object in the first attitude, the second attitude and the third attitude; deformation means 13, 14, 17, 22 for deforming the object in each axial direction of three mutually-orthogonal axes and in the circumferential direction of one axis among the three axes; deformation amount detection means 23, 24, 25, 26 for detecting the amount of deformation in each axial direction of the three mutually-orthogonal axes of the object and the amount of deformation in the circumferential direction of one axis among the three axes; a load detection means 19 for detecting the load in each axial direction of the three mutually-orthogonal axes of the object and the load in the circumferential direction; and a transformation matrix generation means 4a for generating the transformation matrix for calculating the amount of deformation from the load of the object based on information on the the amount of deformation of the object and information on the load. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a technique for accurately obtaining a relationship between a deformation amount and a load when an object is deformed in various directions.

Conventionally, as a method for obtaining a relationship between a deformation amount and a load when an object is deformed in various directions, the axis direction of three axes (X axis, Y axis, Z axis) orthogonal to the object and The circumferential deformation of the three axes is applied, the axial direction of the three axes orthogonal to each other, the circumferential deformation amount and the load of the three axes are detected by a six-component force meter, and the detected deformation amount and There is known a method for generating a transformation matrix for calculating a load from a deformation amount based on information on the load. For example, it is as described in Patent Document 1 and Patent Document 2.
JP 2001-290848 A JP 2004-53313 A

However, the conventional method has the following problems.
First, in the case where an axial direction of three axes (X axis, Y axis, Z axis) perpendicular to each other and deformation (vibration) in the circumferential direction of the three axes are given to an object, usually the three Three actuators that translate in the axial direction of one axis and three actuators that rotate in the circumferential direction of the three axes are required. Therefore, the number of actuators included in the apparatus is at least six, which increases the size and complexity of the apparatus and increases the cost.
Second, information on the amount of deformation in the axial direction of the three axes orthogonal to each other in the six force meter and the amount of deformation in the circumferential direction of the three axes, and the load in the axial direction of the three axes orthogonal to each other, and When generating a transformation matrix for calculating the load from the deformation amount based on the information related to the load in the circumferential direction of the three axes, a high-performance computing device is required because the amount of information acquired simultaneously increases. Therefore, the equipment cost increases or the time required for the calculation becomes longer.
Thirdly, the conventional method and the method described in Patent Document 1 are generally used to reduce the calculation burden and reduce the required time, so that the axial and circumferential components of the three axes orthogonal to each other interfere with each other. The transformation matrix is generated on the assumption that only some components interfere with each other. However, when the deformation amount of the object is large or the material constituting the object is highly nonlinear (deformation behavior) In the case where the load is calculated from the amount of deformation using the conversion matrix, the accuracy of the calculation result is not good.

  In view of the circumstances as described above, the present invention enables a reduction in size and simplification of the device configuration, and a load displacement calculation device and a load capable of generating a transformation matrix for calculating a deformation amount from a highly reliable load. A displacement calculation method is provided.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1,
Support means capable of supporting the object in a plurality of postures orthogonal to each other;
Deformation means for translating and deforming the object in at least one direction and twisting and deforming in at least one direction;
Deformation amount detection means for detecting over time the translation deformation amount in the direction in which the object is deformed in translation and the twist deformation amount in the direction in which the object is torsionally deformed by the deformation means;
Load detecting means for detecting over time a translation load in a direction in which the object is deformed in translation by the deformation means and a torsion load in a direction in which the object is torsionally deformed;
Information relating to the translational deformation amount and torsional deformation amount in each posture of the object detected over time by the deformation amount detection means, and the translational load in each posture of the object detected over time by the load detection means And a transformation matrix generating means for generating a transformation matrix for calculating the translational deformation amount and the torsional deformation amount from the translational load and the torsional load of the object based on the information relating to the torsional load,
It comprises.

In claim 2,
The first posture, the second posture rotated 90 degrees in the circumferential direction of any one of the three axes orthogonal to each other from the first posture, and the three postures orthogonal to each other from the second posture Support means for supporting in a third posture rotated 90 degrees in the circumferential direction of one of the remaining two shafts of the two shafts;
Deformation means for deforming the object in the axial direction of three axes orthogonal to each other and in the circumferential direction of any one of the three axes;
Deformation amount detecting means for detecting the deformation amount in the axial direction of three axes orthogonal to each other of the object and the deformation amount in the circumferential direction of any one of the three axes,
Load detecting means for detecting the load in the axial direction and the load in the circumferential direction of the three orthogonal axes of the object over time;
Information on the deformation amount in the first posture, the second posture, and the third posture of the object detected over time by the deformation amount detection means, and information on the object detected over time by the load detection means. Conversion matrix generation means for generating a conversion matrix for calculating a deformation amount from the load of the object based on information on the load in the first posture, the second posture, and the third posture;
It comprises.

In claim 3,
The deformation means deforms the object in the circumferential direction of any one of three axes orthogonal to each other by a translation actuator and a link mechanism that converts the expansion and contraction movements of the translation actuator into a rotation movement. It is.

In claim 4,
Inverse transformation matrix generation means for generating an inverse transformation matrix for calculating a load from the deformation amount of the object based on the transformation matrix generated by the transformation matrix generation means.

In claim 5,
The posture of the object is supported in a plurality of postures orthogonal to each other, and each posture of the plurality of postures is translated and deformed in at least one direction and twisted and deformed in at least one direction. Load displacement detection that detects the amount of deformation and the amount of twist deformation in the direction of torsional deformation over time, and detects the translational load in the direction of translational deformation of the object and the torsional load in the direction of torsional deformation over time. Process,
Based on information relating to the translational deformation amount and torsional deformation amount in each posture of the object detected over time in the load displacement detection step, and information relating to the translational load and torsional load in each posture of the object, A transformation matrix generating step for generating a transformation matrix for calculating the translational deformation amount and the torsional deformation amount from the translational load and the torsional load of the object;
It comprises.

In claim 6,
The object is supported in a first posture, deformed in the axial direction of three axes orthogonal to each other and the circumferential direction of any one of the three axes, and the deformation amount in the axial direction of the three axes orthogonal to each other And a first load that detects the amount of deformation in the circumferential direction of any one of the three shafts over time and detects the load in the axial direction and the load in the circumferential direction of the three axes orthogonal to each other over time. A displacement detection step;
The object is supported in a second posture rotated 90 degrees in the circumferential direction of any one of the three axes orthogonal to each other from the first posture, and the axial directions of the three axes orthogonal to each other and the three axes. By deforming in the circumferential direction of any one of the three axes, the amount of deformation in the axial direction of three axes orthogonal to each other and the amount of deformation in the circumferential direction of any one of the three axes are detected over time. And a second load displacement detection step for detecting the axial load and the circumferential load of the three axes orthogonal to each other over time,
The object is supported in a third posture rotated 90 degrees in the circumferential direction of one of the remaining two axes orthogonal to each other from the second posture, and the three axes orthogonal to each other are supported. Deform in the axial direction and the circumferential direction of any one of the three axes, and determine the amount of deformation in the axial direction of the three axes orthogonal to each other and the amount of deformation in the circumferential direction of any one of the three axes. A third load displacement detecting step for detecting the load in the axial direction and the load in the circumferential direction of the three axes orthogonal to each other with time,
Deformation amounts in the first posture, the second posture, and the third posture of the object detected over time in the first load displacement detection step, the second load displacement detection step, and the third load displacement detection step A transformation matrix for generating a transformation matrix for calculating a deformation amount from the load of the object based on the information on the object and the information on the load in the first attitude, the second attitude, and the third attitude of the object Generation process;
It comprises.

In claim 7,
An inverse transformation matrix generation step of generating an inverse transformation matrix for calculating a load from the deformation amount of the object based on the transformation matrix generated in the transformation matrix generation step.

  As effects of the present invention, the following effects can be obtained.

According to the first aspect, it is possible to reduce the number of actuators for translating or twisting the object. Therefore, it is possible to reduce the size and simplification of the apparatus, which in turn contributes to a reduction in equipment costs.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

In Claim 2, it is possible to use one actuator for deforming the object in the circumferential direction of three axes orthogonal to each other. Therefore, it is possible to reduce the size and simplification of the apparatus, which in turn contributes to a reduction in equipment costs.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

  According to the third aspect, it is possible to impart circumferential deformation (twist deformation or twist deformation) to the object with a simple configuration, which contributes to a reduction in equipment costs.

  In claim 4, a highly reliable inverse transformation matrix is generated that takes into account interference components in the axial direction and the circumferential direction of three axes orthogonal to each other (the accuracy of the calculation result when the load is calculated from the deformation amount is good). Is possible. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

According to the fifth aspect, it is possible to reduce the number of actuators for translating or twisting the object. Therefore, it is possible to reduce the size and simplification of the apparatus, which in turn contributes to a reduction in equipment costs.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

According to the sixth aspect of the present invention, it is possible to have one actuator for deforming the object in the circumferential direction of three axes orthogonal to each other. Therefore, it is possible to reduce the size and simplification of the apparatus that performs the load displacement calculation method, which contributes to the reduction of the equipment cost.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

  In claim 7, a highly reliable inverse transformation matrix is generated in consideration of the interference components in the axial direction and the circumferential direction of three axes orthogonal to each other (the calculation result is accurate when the load is calculated from the deformation amount). Is possible. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

Below, the whole structure of the load displacement calculation apparatus 1 which is one Embodiment of the load displacement calculation apparatus which concerns on this invention using FIG. 1 is demonstrated.
The load displacement calculation device 1 is a device for performing a load displacement calculation test of the rubber bush 2 and includes a vibration device 3 and a control device 4.
In the following, for the sake of convenience, a right-handed three-dimensional coordinate system in which the longitudinal direction (direction perpendicular to the paper surface in FIG. 1) of the load displacement calculation device 1 orthogonal to each other is X1 direction, left-right direction is Y1 direction, and vertical direction is Z1 direction. Will be used for explanation.

Below, the rubber bush 2 is demonstrated using FIG.2, FIG3 and FIG.4.
The rubber bush 2 is an embodiment of an object according to the present invention. Here, the “object” according to the present invention is an object of load displacement calculation (calculation of the relationship between received load and deformation amount).
The rubber bush 2 is a member interposed between the engine and the frame of the automobile or between the suspension and the frame of the automobile for vibration suppression, and includes a bush portion 2a, an inner cylinder 2b, and an outer cylinder 2c.
The bush portion 2a is a substantially cylindrical member made of rubber. A through hole penetrating the upper and lower planes is formed in a substantially central portion of the bush portion 2a, and the inner cylinder 2b is inserted through the through hole. An outer cylinder 2c is fitted on the bush portion 2a. Further, cavities 2d and 2e penetrating the upper and lower planes are formed in the bush portion 2a.
The inner cylinder 2b and the outer cylinder 2c are substantially cylindrical members made of a steel material.
In addition, although the bush part 2a of a present Example is comprised with rubber | gum, you may comprise with other materials which can be elastically deformed, for example, an elastomer, resin, etc.
Moreover, although the inner cylinder 2b and the outer cylinder 2c of a present Example are comprised with a steel material, you may comprise with another material which has higher intensity | strength than the bush part 2a, for example, a titanium alloy, an aluminum alloy, etc.
In the following, for the sake of convenience, a right-handed tertiary system in which the axial direction of the inner cylinder 2b of the rubber bush 2 is the X2 direction, the direction orthogonal to the X2 direction is the Y2 direction, and the direction orthogonal to both the X2 direction and the Y2 direction is the Z2 direction. The original coordinates are defined and used for the explanation.

Below, the vibration apparatus 3 is demonstrated using FIG. 1 and FIG.
The vibration device 3 mainly includes support legs 10, 10, 10, 10 (in FIG. 1, the support leg 10 on the back side of the paper is hidden by the support leg 10 on the front side of the paper), the main frame 11, the vibration table 12, X-axis translation cylinder 13, Y-axis translation cylinder 14, turntable 15, vibration table fixing jig 16, Z-axis translation cylinders 17, 17, 17, 17, upper frame 18, six-component force meter 19, six-component force A meter-side fixing jig 20, a link mechanism 21, a Z-axis rotating cylinder 22, and the like are provided.
In FIG. 5, for convenience of explanation, the vibration table side fixing jig 16, the Z-axis translation cylinder 17 on the front side of the paper, the upper frame 18, the six component force meter 19, and the six component force meter side fixing jig 20 are omitted. is doing.

  The support legs 10, 10, 10, and 10 are structures that form the lower part of the load displacement calculation device 1. The lower ends of the support legs 10, 10, 10, 10 are fixed to the ground, and bushes 10a, 10a, 10a, 10a are provided at the upper ends.

  The main frame 11 is a structure that forms the substantially upper and lower central portions of the load displacement calculating device 1. The main frame 11 is supported by the support legs 10, 10, 10, 10 through bushes 10 a, 10 a, 10 a, 10 a. Inside the main frame 11, a space opened at a substantially central portion of the upper surface of the main frame 11 is provided.

  The vibration table 12 is a member that is slidable on a horizontal plane in a space provided in the main frame 11 (movable in the X1 axis direction and the Y1 axis direction) and immovable in the vertical direction. The upper surface of the vibration table 12 protrudes from the upper surface of the main frame 11.

  The X-axis translation cylinder 13 is a backward-acting hydraulic cylinder. The cylinder body of the X-axis translation cylinder 13 is fixed to one side surface of the vibration table 12, and the tip of the cylinder rod engages with the vibration table 12. As the X-axis translation cylinder 13 extends and contracts, the vibration table 12 translates (vibrates) in the X1 direction.

  The Y-axis translation cylinder 14 is a backward-acting hydraulic cylinder. The cylinder body of the Y-axis translation cylinder 14 is fixed to one side surface of the vibration table 12, and the tip of the cylinder rod is engaged with the vibration table 12. As the Y-axis translation cylinder 14 expands and contracts, the vibration table 12 translates (vibrates) in the Y1 direction.

  The turntable 15 is a substantially disk-shaped member, and is supported at a substantially central portion of the upper surface of the vibration table 12 so as to be rotatable in the circumferential direction of the Z1 axis and not slidable in the axial direction of the Z1 axis.

  The vibration table side fixing jig 16 fixes the rubber bush 2 to the vibration table 12, and supports it in desired postures ("first posture", "second posture" and "third posture" described later). And is fixed to the upper surface of the turntable 15.

The Z-axis translation cylinders 17, 17, 17, and 17 are backward-acting hydraulic cylinders. The lower ends of the Z-axis translation cylinders 17, 17, 17, and 17 are respectively fixed to the four corners of the upper surface of the main frame 11.
When the Z-axis translation cylinders 17, 17, 17, and 17 extend and contract, the upper frame 18, the six-component force meter 19, and the six-component force meter side fixing jig 20 translate (vibrate) in the Z1 direction.

  The upper frame 18 is a structure that forms the upper part of the load displacement calculation device 1, and is fixed above the upper ends of the Z-axis translation cylinders 17, 17, 17, 17 and disposed above the vibration table 12.

The six-component force meter 19 has a total of six loads, including the X1 axis, Y1 axis, and Z1 axis load in the axial direction (translational load), and the X1 axis, Y1 axis, and Z1 axis circumferential loads (rotational load). And is provided at a substantially central portion of the lower surface of the upper frame 18.
The six component force meter 19 may be a dedicated product or may be a commercially available six component force meter.

  The six-component force meter side fixing jig 20 fixes the rubber bush 2 to the six-component force meter 19, and a desired posture ("first posture", "second posture" and "third posture" described later)). And is fixed to the lower surface of the six-component force meter 19.

  In the case of the present embodiment, the six-component force meter 19 includes X1-axis, Y1-axis, and Z1-axis axial loads (translation loads) applied to the six-component force meter-side fixing jig 20, and the X1-axis, Y1-axis, and Z1. By detecting a total of six loads in the circumferential direction of the shaft (rotational load; torque), the load is applied to the rubber bush 2 supported by the vibration table side fixing jig 16 and the six component force meter side fixing jig 20. A total of six loads are detected: X1 axis, Y1 axis and Z1 axis load in the axial direction (translational load), and X1 axis, Y1 axis and Z1 axis circumferential loads (rotational load; torque).

As shown in FIG. 5, the link mechanism 21 includes a rod 21a, a rod 21b, a rotating arm 21c, and the like.
The rod 21a and the rod 21b are rod-shaped members, and one ends of the rod 21a and the rod 21b are pivotally attached to the peripheral edge of the rotating disk 15, respectively.
The rotating arm 21 c is a short isosceles triangular member, and the length of the bottom side of the rotating arm 21 c is substantially the same as the diameter of the rotating disk 15. The other end of the rod 21a and the rod 21b is pivotally attached to both ends of the bottom side of the rotating arm 21c. A substantially central portion of the bottom side of the rotating arm 21c is pivotally supported on the peripheral portion of the upper surface of the vibration table 12 so as to be rotatable in the circumferential direction of the Z1 axis.

The Z-axis rotating cylinder 22 is a backward-acting hydraulic cylinder. The cylinder body of the Z-axis rotary cylinder 22 is fixed to the vibration table 12 by a stay 22a, and the tip of the cylinder rod of the Z-axis rotary cylinder 22 is pivotally attached to the apex of the rotary arm 21c.
When the Z-axis rotating cylinder 22 extends and contracts, the rotating arm 21c reciprocates in the circumferential direction of the Z1 axis, and in conjunction with this, the rotating disk also reciprocates in the circumferential direction of the Z1 axis.

The X-axis translation sensor 23 detects the amount of expansion (or contraction) of the X-axis translation cylinder 13 and, in turn, the amount of deformation in the axial direction of the X1 axis of the rubber bush 2 over time.
The X-axis translation sensor 23 of the present embodiment is composed of an optical linear scale, but an electromagnetic differential transformer, an electromagnetic linear scale, an electromagnetic magnescale, a direct acting potentiometer, and an optical linear scale. You may comprise with another sensor which can detect the displacement amount of linear motion, such as an encoder.
In this embodiment, the amount of deformation in the axial direction of the X1 axis of the rubber bush 2 is detected by detecting the extension amount of the X axis translation cylinder 13. However, the X1 axis of the vibration table 12 with respect to the main frame 11 is detected. The amount of deformation in the axial direction of the X1 axis of the rubber bush 2 may be detected by detecting the amount of movement in the axial direction.

The Y-axis translation sensor 24 detects the amount of expansion (or contraction) of the Y-axis translation cylinder 14 and, in turn, the amount of deformation in the axial direction of the Y1 axis of the rubber bush 2 over time.
The Y-axis translation sensor 24 of this embodiment is composed of an optical linear scale, but an electromagnetic differential transformer, an electromagnetic linear scale, an electromagnetic magnescale, a direct acting potentiometer, an optical linear scale. You may comprise with another sensor which can detect the displacement amount of linear motion, such as an encoder.
In this embodiment, the amount of deformation in the axial direction of the Y1 axis of the rubber bush 2 is detected by detecting the amount of extension of the Y-axis translation cylinder 14, but the Y1 axis of the vibration table 12 with respect to the main frame 11 is used. The amount of deformation in the axial direction of the Y1 axis of the rubber bush 2 may be detected by detecting the amount of movement in the axial direction.

The Z-axis translation sensor 25 detects the amount of expansion (or contraction) of the Z-axis translation cylinders 17, 17, 17, 17, and consequently the amount of deformation in the axial direction of the Z1 axis of the rubber bush 2 over time.
The Z-axis translation sensor 25 of the present embodiment is composed of an optical linear scale, but an electromagnetic differential transformer, an electromagnetic linear scale, an electromagnetic magnescale, a direct acting potentiometer, an optical linear scale. You may comprise with another sensor which can detect the displacement amount of linear motion, such as an encoder.
In this embodiment, the amount of deformation in the axial direction of the Z1 axis of the rubber bush 2 is detected by detecting the amount of extension of the Z-axis translation cylinders 17, 17, 17, 17. A configuration may be adopted in which the amount of deformation of the rubber bush 2 in the axial direction of the Z1 axis is detected by detecting the amount of movement of the frame 18 in the axial direction of the Z1 axis.

The Z-axis rotation sensor 26 detects the amount of expansion (or contraction) of the Z-axis rotation cylinder 22 and, in turn, the amount of deformation of the rubber bush 2 in the circumferential direction of the Z1 axis.
The Z-axis rotation sensor 26 of the present embodiment is composed of an optical linear scale, but an electromagnetic differential transformer, an electromagnetic linear scale, an electromagnetic magnescale, a direct acting potentiometer, and an optical linear scale. You may comprise with another sensor which can detect the displacement amount of linear motion, such as an encoder.
In this embodiment, the amount of deformation in the axial direction of the Z1 axis of the rubber bush 2 is detected by detecting the amount of extension of the Z-axis rotating cylinder 22, but the Z1 axis of the turntable 15 with respect to the vibration table 12 is detected. The amount of deformation in the axial direction of the Z1 axis of the rubber bush 2 may be detected by detecting the amount of rotation (rotation angle) in the circumferential direction. In this case, other examples of the Z-axis rotation sensor 26 include an electromagnetic synchro and resolver, a rotary potentiometer, an optical encoder and a potentiometer.

Hereinafter, the rubber bush 2 to the vibration table side fixing jig 16 and the six-component force meter side fixing jig 20 will be described with reference to FIGS. 1, 6, 7, 8, 9, 10, and 11. A fixing method will be described.
The vibration table side fixing jig 16 and the six-component force meter side fixing jig 20 of the present embodiment are configured so that the rubber bush 2 is moved into three parts of “first attitude”, “second attitude”, and “third attitude”. It can be fixed in one posture. The “first posture”, “second posture”, and “third posture” will be described below.

As shown in FIGS. 6 and 7, the “first posture” in the present embodiment is such that the axial direction of the X1 axis of the vibration device 3 and the axial direction of the X2 axis of the rubber bush 2 are substantially parallel. 3 in which the axial direction of the Y1 axis of the rubber bush 2 is substantially parallel to the axial direction of the Y2 axis of the rubber bush 2, and the axial direction of the Z1 axis of the vibration device 3 is substantially parallel to the axial direction of the Z2 axis of the rubber bush 2. It is.
As shown in FIG. 6, the inner cylinder 2b of the rubber bush 2 is not relatively movable in the axial directions of the X1, Y1, and Z1 axes with respect to the six-component force meter side fixing jig 20, and the circumferential direction of the Z1 axis. It is fixed so that it cannot rotate relative to it. In addition, the outer cylinder 2c of the rubber bush 2 is not relatively movable in the axial direction of the X1, Y1, and Z1 axes with respect to the vibration table side fixing jig 16, and is not relatively rotatable in the circumferential direction of the Z1 axis. Fixed.

When the rubber bush 2 is fixed in the “first position” in the present embodiment, the X-axis translation cylinder 13 and the Y-axis translation cylinder 14 extend and contract, so that the vibration table 12 moves relative to the main frame 11. When moving in the axial direction of the X1 axis and the Y1 axis, the vibration table side fixing jig 16 moves in the axial direction of the X1 axis and the Y1 axis with respect to the six component force meter side fixing jig 20.
As a result, the rubber bush 2 (particularly the bush portion 2a) is deformed in the axial directions of the X1 axis and the Y1 axis, more strictly in the axial directions of the X2 axis and the Y2 axis of the rubber bush 2.

Further, when the rubber bush 2 is fixed in the “first posture” in the present embodiment, the Z-axis translation cylinders 17, 17, 17, 17 are expanded and contracted, whereby the upper frame 18 is moved to the vibration table 12. With respect to the Z1 axis, the six-component force meter side fixing jig 20 moves relative to the vibration table side fixing jig 16 in the Z1 axis direction.
As a result, the rubber bush 2 (particularly the bush portion 2a) is deformed in the axial direction of the Z1 axis, more strictly in the axial direction of the Z2 axis of the rubber bush 2.

Further, when the rubber bush 2 is fixed in the “first position” in the present embodiment, if the rotating disk 15 rotates in the circumferential direction of the Z1 axis due to the Z-axis rotating cylinder 22 extending and contracting, the additional force is applied. The shaking base side fixing jig 16 rotates in the circumferential direction of the Z1 axis with respect to the six component force gauge side fixing jig 20.
As a result, the rubber bush 2 (particularly the bush portion 2a) is twisted and deformed in the circumferential direction of the Z1 axis, more strictly in the circumferential direction of the Z2 axis of the rubber bush 2.

As shown in FIGS. 8 and 9, the “second posture” in the present embodiment is such that the axial direction of the X1 axis of the vibration device 3 and the axial direction of the X2 axis of the rubber bush 2 are substantially parallel. 3 in which the axial direction of the Y1 axis of the rubber bush 2 is substantially parallel to the axial direction of the Z2 axis of the rubber bush 2, and the axial direction of the Z1 axis of the vibration device 3 is substantially parallel to the axial direction of the Y2 axis of the rubber bush 2. It is.
That is, the “second posture” in the present embodiment is a posture in which the rubber bush 2 that was in the “first posture” in the present embodiment is rotated 90 degrees in the circumferential direction of the X1 axis of the vibration device 3.
As shown in FIG. 8, the inner cylinder 2b of the rubber bush 2 is not relatively movable in the axial directions of the X1, Y1, and Z1 axes with respect to the six-component force meter side fixing jig 20, and the circumferential direction of the Z1 axis. It is fixed so that it cannot rotate relative to it. In addition, the outer cylinder 2c of the rubber bush 2 is not relatively movable in the axial direction of the X1, Y1, and Z1 axes with respect to the vibration table side fixing jig 16, and is not relatively rotatable in the circumferential direction of the Z1 axis. Fixed.

When the rubber bush 2 is fixed in the “second posture” in the present embodiment, the X-axis translation cylinder 13 and the Y-axis translation cylinder 14 are expanded and contracted, whereby the vibration table 12 is moved relative to the main frame 11. When moving in the axial direction of the X1 axis and the Y1 axis, the vibration table side fixing jig 16 moves in the axial direction of the X1 axis and the Y1 axis with respect to the six component force meter side fixing jig 20.
As a result, the rubber bush 2 (particularly the bush portion 2a) is deformed in the axial directions of the X1 axis and the Y1 axis, more strictly in the axial directions of the X2 axis and the Z2 axis of the rubber bush 2.

Further, when the rubber bush 2 is fixed in the “second posture” in the present embodiment, the Z-axis translation cylinders 17, 17, 17, 17 are expanded and contracted, whereby the upper frame 18 is moved to the vibration table 12. With respect to the Z1 axis, the six-component force meter side fixing jig 20 moves relative to the vibration table side fixing jig 16 in the Z1 axis direction.
As a result, the rubber bush 2 (particularly the bush portion 2a) is deformed in the axial direction of the Z1 axis, more strictly in the axial direction of the Y2 axis of the rubber bush 2.

Further, when the rubber bush 2 is fixed in the “second posture” in the present embodiment, when the rotary disk 15 rotates in the circumferential direction of the Z1 axis due to the Z-axis rotating cylinder 22 extending and contracting, an additional force is applied. The shaking base side fixing jig 16 rotates in the circumferential direction of the Z1 axis with respect to the six component force gauge side fixing jig 20.
As a result, the rubber bush 2 (especially the bush portion 2a) is deformed by twisting in the circumferential direction of the Z1 axis, more strictly in the circumferential direction of the Y2 axis of the rubber bush 2.

As shown in FIGS. 10 and 11, the “third posture” in the present embodiment is such that the axial direction of the X1 axis of the vibration device 3 and the axial direction of the Y2 axis of the rubber bush 2 are substantially parallel. 3 in which the axial direction of the Y1 axis of the rubber bush 2 is substantially parallel to the axial direction of the Z2 axis of the rubber bush 2, and the axial direction of the Z1 axis of the vibration device 3 is substantially parallel to the axial direction of the X2 axis of the rubber bush 2. It is.
That is, the “third posture” in the present embodiment is a posture in which the rubber bush 2 that was in the “second posture” in the present embodiment is rotated 90 degrees in the circumferential direction of the Y1 axis of the vibration device 3.
As shown in FIG. 10, the inner cylinder 2b of the rubber bush 2 is not relatively movable in the axial directions of the X1, Y1, and Z1 axes with respect to the six-component force meter side fixing jig 20, and the circumferential direction of the Z1 axis. It is fixed so that it cannot rotate relative to it. In addition, the outer cylinder 2c of the rubber bush 2 is not relatively movable in the axial direction of the X1, Y1, and Z1 axes with respect to the vibration table side fixing jig 16, and is not relatively rotatable in the circumferential direction of the Z1 axis. Fixed.

When the rubber bush 2 is fixed in the “third posture” in the present embodiment, the X-axis translation cylinder 13 and the Y-axis translation cylinder 14 are expanded and contracted, so that the vibration table 12 is relative to the main frame 11. When moving in the axial direction of the X1 axis and the Y1 axis, the vibration table side fixing jig 16 moves in the axial direction of the X1 axis and the Y1 axis with respect to the six component force meter side fixing jig 20.
As a result, the rubber bush 2 (particularly the bush portion 2a) is deformed in the axial directions of the X1 axis and the Y1 axis, more strictly in the axial directions of the Y2 axis and the Z2 axis of the rubber bush 2.

Further, when the rubber bush 2 is fixed in the “third posture” in the present embodiment, the Z-axis translation cylinders 17, 17, 17, 17 are expanded and contracted, whereby the upper frame 18 is moved to the vibration table 12. With respect to the Z1 axis, the six-component force meter side fixing jig 20 moves relative to the vibration table side fixing jig 16 in the Z1 axis direction.
As a result, the rubber bush 2 (particularly the bush portion 2a) is deformed in the axial direction of the Z1 axis, more strictly in the axial direction of the X2 axis of the rubber bush 2.

Further, when the rubber bush 2 is fixed in the “third posture” in the present embodiment, if the rotating plate 15 rotates in the circumferential direction of the Z1 axis by the Z-axis rotating cylinder 22 extending and contracting, the additional force is applied. The shaking base side fixing jig 16 rotates in the circumferential direction of the Z1 axis with respect to the six component force gauge side fixing jig 20.
As a result, the rubber bush 2 (especially the bush portion 2a) is deformed by twisting in the circumferential direction of the Z1 axis, more strictly in the circumferential direction of the X2 axis of the rubber bush 2.

In this embodiment, the rubber bush 2 rotates 90 degrees in the circumferential direction of the X1 axis when shifting from the first position to the second position, and X1 when shifting from the second position to the third position. It is configured to rotate 90 degrees in the circumferential direction of the Y1 axis different from the above, but the combination of rotating axes may be another combination consisting of two different axes (excluding the combination rotating 90 degrees twice in the circumferential direction of the same axis) good. For example, when shifting from the first position to the second position, it rotates 90 degrees in the circumferential direction of the Z1 axis, and when shifting from the second position to the third position, it rotates 90 degrees in the circumferential direction of the X1 axis. It is also possible to adopt a configuration.
Further, the shapes of the vibration table side fixing jig 16 and the six component force meter side fixing jig 20 are not particularly limited, and are appropriately selected according to the shape of the object.

Below, the control apparatus 4 is demonstrated using FIG.
The control device 4 controls various operations of the vibration device 3 and calculates load displacement, which will be described in detail later. The control device 4 mainly includes a control unit 4a, an input unit 4b, a display unit 4c, and the like.

  The control unit 4a includes a storage unit that stores a program (vibration program) related to various operations of the excitation device 3, a program (load displacement calculation program) related to load displacement calculation, and a deployment unit that expands the program. Computation means for performing predetermined computations according to the program, storage means for storing computation results, and the like are provided.

More specifically, the control unit 4a may be configured such that a CPU, ROM, RAM, HDD, or the like is connected by a bus, or may be configured by a one-chip LSI or the like.
The control unit 4a may be a dedicated product, but can also be achieved by using a commercially available personal computer or workstation.

  The control unit 4a is connected to various sensor groups and various actuator groups included in the vibration device 3, and can control various operations of the vibration device 3 based on a vibration program stored in advance. is there.

The control unit 4a is connected to the X-axis translation sensor 23, and the extension amount (or contraction amount) of the X-axis translation cylinder 13 detected by the X-axis translation sensor 23. As a result, the vibration table side fixing jig 16 and the six component force It is possible to acquire information related to the amount of deformation in the axial direction of the X1 axis of the rubber bush 2 supported by the meter-side fixing jig 20.
The control unit 4a is connected to the Y-axis translation sensor 24, and the extension amount (or contraction amount) of the Y-axis translation cylinder 14 detected by the Y-axis translation sensor 24. As a result, the vibration table side fixing jig 16 and the six component force It is possible to acquire information related to the amount of deformation in the axial direction of the Y1 axis of the rubber bush 2 supported by the meter-side fixing jig 20.
The control unit 4a is connected to the Z-axis translation sensor 25 and extends (or contracts) the Z-axis translation cylinders 17, 17, 17, and 17, and thus the vibration table side fixing jig 16 and the six-component force meter side. It is possible to acquire information related to the amount of deformation in the axial direction of the Z1 axis of the rubber bush 2 supported by the fixing jig 20.
The control unit 4a is connected to the Z-axis rotation sensor 26, and the extension amount (or contraction amount) of the Z-axis rotation cylinder 22 detected by the Z-axis rotation sensor 26. As a result, the vibration table side fixing jig 16 and the six component force It is possible to acquire information related to the amount of deformation in the circumferential direction of the Z1 axis of the rubber bush 2 supported by the meter-side fixing jig 20.
The control unit 4a is connected to the six-component force meter 19, and the X1-axis, Y1-axis, and Z1-axis axial loads (translation loads) applied to the rubber bush 2 detected by the six-component force meter 19, and the X1-axis, Y1 Information on a total of six loads, ie, circumferential loads (rotational loads) of the axis and the Z1 axis is acquired.

The control unit 4 a is connected to the X-axis translation cylinder 13 of the vibration device 3 (more precisely, a switching valve provided in a hydraulic pipe that supplies hydraulic oil to the X-axis translation cylinder 13). It is possible to adjust the direction and amount of the hydraulic oil supplied to the cylinder, and thus the extension amount (shrinkage amount) of the X-axis translation cylinder 13. In the case of the present embodiment, the extension amount (shrinkage amount) of the X-axis translation cylinder 13 is adjusted by the extension amount (shrinkage amount) of the X-axis translation cylinder 13 acquired by the control unit 4a from the X-axis translation sensor 23. Such information is used.
The control unit 4a is connected to the Y-axis translation cylinder 14 (more precisely, a switching valve provided in a hydraulic pipe that supplies hydraulic oil to the Y-axis translation cylinder 14) of the vibration device 3, and the Y-axis translation cylinder 14 is connected. It is possible to adjust the direction and amount of the hydraulic oil supplied to the cylinder, and thus the extension amount (shrinkage amount) of the Y-axis translation cylinder 14. In the case of the present embodiment, the extension amount (shrinkage amount) of the Y-axis translation cylinder 14 is adjusted by the extension amount (shrinkage amount) of the Y-axis translation cylinder 14 acquired by the control unit 4a from the Y-axis translation sensor 24. Such information is used.
The control unit 4a is provided in the hydraulic piping for supplying hydraulic oil to the Z-axis translation cylinders 17, 17, 17, 17 (more precisely, the Z-axis translation cylinders 17, 17, 17, 17) of the vibration device 3. The direction and amount of hydraulic oil supplied to the Z-axis translation cylinders 17, 17, 17, and 17 and the extension amount (shrinkage amount) of the Z-axis translation cylinders 17, 17, 17, and 17 are adjusted. Is possible. In the case of the present embodiment, the Z-axis translation cylinders 17, 17 acquired by the control unit 4 a from the Z-axis translation sensor 25 are used to adjust the expansion amount (shrinkage amount) of the Z-axis translation cylinders 17, 17, 17, 17. Information related to the expansion amount (shrinkage amount) of 17 and 17 is used.
The controller 4a is connected to the Z-axis rotary cylinder 22 of the vibration exciter 3 (more precisely, a switching valve provided in a hydraulic pipe that supplies hydraulic oil to the Z-axis rotary cylinder 22). It is possible to adjust the direction and amount of hydraulic oil supplied to the cylinder, and in turn the amount of expansion (shrinkage) of the Z-axis rotating cylinder 22. In the case of the present embodiment, the extension amount (shrinkage amount) of the Z-axis rotation cylinder 22 is adjusted to the extension amount (shrinkage amount) of the Z-axis rotation cylinder 22 acquired by the control unit 4a from the Z-axis rotation sensor 26. Such information is used.

The input unit 4b is for an operator or the like to input various data related to the operation of the vibration device 3 and load displacement calculation to the control unit 4a, and is connected to the control unit 4a.
The input unit 4b may be a dedicated product, but can also be achieved using a commercially available keyboard, touch panel, or the like.

The display unit 4c displays data input by the input unit 4b, the operation status of the vibration excitation device 3, the result of load displacement calculation, and the like, and is connected to the control unit 4a.
The display unit 4c may be a dedicated product, but can also be achieved using a commercially available monitor, liquid crystal display, or the like.

  In this embodiment, the control device 4 is configured to perform both the control of the operation of the vibration device 3 and the load displacement calculation described later. However, the control of the vibration device 3 and the load displacement calculation are performed separately. (In other words, load displacement calculation is performed by a control device different from the control device 4).

Below, the Example of the load displacement calculation method which the control part 4a performs based on a load displacement calculation program is described using FIG.12, FIG.13 and FIG.14.
As shown in FIG. 12, the load displacement calculation method of the present embodiment includes a first load displacement detection step 100, a second load displacement detection step 200, a third load displacement detection step 300, a transformation matrix generation step 400, and an inverse transformation matrix generation. Step 500 etc. are provided.

Below, the 1st load displacement detection process 100 is demonstrated. The first load displacement detection step 100 is an embodiment of the first load displacement detection step according to the present invention.
In the first load displacement detection step 100, first, the rubber bush 2 is fixed to the vibration table side fixing jig 16 and the six-component force meter side fixing jig 20 in the “first posture” (see FIGS. 6 and 7). Has been supported.
Next, the control unit 4a operates (extends and contracts) the X-axis translation cylinder 13, the Y-axis translation cylinder 14, the Z-axis translation cylinders 17, 17, 17, and 17 and the Z-axis rotation cylinder 22, thereby the rubber bush 2 For a predetermined time in the axial direction of three axes orthogonal to each other (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes orthogonal to each other (Z1 axis in this embodiment) Deform.
In the case of the present embodiment, the rubber bush 2 is substantially deformed in the axial direction of the X2, Y2 and Z2 axes and in the circumferential direction of the Z2 axis.

At this time, the control unit 4a operates the X-axis translation cylinder 13, the Y-axis translation cylinder 14, the Z-axis translation cylinders 17, 17, 17, 17 and the Z-axis rotation cylinder 22 independently (randomly), respectively. The rubber bush 2 can be deformed in various directions and sizes. It is also possible to specify the degree of deformation (deformation amount) applied to the rubber bush 2 to some extent according to the purpose of load displacement calculation.
For example, when a large external force is applied to an automobile equipped with the rubber bush 2 by applying only a large deformation (such as when the automobile collides with an obstacle), the deformation behavior of the rubber bush 2 is examined. It is also possible to investigate the deformation behavior during normal driving of the automobile provided with the rubber bush 2 by applying only the above.

The rubber bush 2 is arranged in the axial direction of three axes orthogonal to each other (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes orthogonal to each other (in this embodiment, the Z1 axis). While being deformed, the control unit 4a includes three orthogonally intersecting rubber bushes 2 detected by the X-axis translation sensor 23, the Y-axis translation sensor 24, the Z-axis translation sensor 25, and the Z-axis rotation sensor 26 over time. The amount of deformation in the axial direction of the shaft (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes (Z1 axis), and the rubber detected over time by the six-component force meter 19 Information relating to axial and circumferential loads of three axes (X1 axis, Y1 axis, Z1 axis) of the bush 2 orthogonal to each other is acquired (see FIG. 13).
In the case of the present embodiment, the control unit 4a substantially includes information related to the amount of deformation in the X2 axis, the Y2 axis, the Z2 axis and the Z2 axis in the circumferential direction of the rubber bush 2, and the X2 axis, the Y2 axis, The information about the axial direction of the Z2 axis and the load in the circumferential direction of the X2 axis, the Y2 axis, and the Z2 axis is acquired.
After a predetermined time elapses, the first load displacement detection process 100 ends, and the process proceeds to the second load displacement detection process 200.

Below, the 2nd load displacement detection process 200 is demonstrated. The second load displacement detection step 200 is an embodiment of the second load displacement detection step according to the present invention.
In the second load displacement detection step 200, first, the rubber bush 2 is fixed to the vibration table side fixing jig 16 and the six-component force meter side fixing jig 20 in the “second posture” (see FIGS. 8 and 9). Has been supported.
Next, the control unit 4a operates (extends and contracts) the X-axis translation cylinder 13, the Y-axis translation cylinder 14, the Z-axis translation cylinders 17, 17, 17, and 17 and the Z-axis rotation cylinder 22, thereby the rubber bush 2 For a predetermined time in the axial direction of three axes orthogonal to each other (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes orthogonal to each other (Z1 axis in this embodiment) Deform.
In the case of the present embodiment, the rubber bush 2 is substantially deformed in the axial direction of the X2, Y2 and Z2 axes and in the circumferential direction of the Y2 axis.

The rubber bush 2 is arranged in the axial direction of three axes orthogonal to each other (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes orthogonal to each other (in this embodiment, the Z1 axis). While being deformed, the control unit 4a includes three orthogonally intersecting rubber bushes 2 detected by the X-axis translation sensor 23, the Y-axis translation sensor 24, the Z-axis translation sensor 25, and the Z-axis rotation sensor 26 over time. The amount of deformation in the axial direction of the shaft (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes (Z1 axis), and the rubber detected over time by the six-component force meter 19 Information relating to axial and circumferential loads of three axes (X1 axis, Y1 axis, Z1 axis) of the bush 2 orthogonal to each other is acquired (see FIG. 13).
In the case of the present embodiment, the control unit 4a substantially includes information on the deformation amount of the rubber bush 2 in the X2 axis, Y2 axis, Z2 axis direction and the circumferential direction of the Y2 axis, the X2 axis, the Y2 axis, The information about the axial direction of the Z2 axis and the load in the circumferential direction of the X2 axis, the Y2 axis, and the Z2 axis is acquired.
After the elapse of a predetermined time, the second load displacement detection process 200 ends, and the process proceeds to the third load displacement detection process 300.

Below, the 3rd load displacement detection process 300 is demonstrated. The third load displacement detection process 300 is an embodiment of the third load displacement detection process according to the present invention.
In the third load displacement detection step 300, first, the rubber bush 2 is fixed to the vibration table side fixing jig 16 and the six-component force meter side fixing jig 20 in the “third posture” (see FIGS. 10 and 11). Has been supported.
Next, the control unit 4a operates (extends and contracts) the X-axis translation cylinder 13, the Y-axis translation cylinder 14, the Z-axis translation cylinders 17, 17, 17, and 17 and the Z-axis rotation cylinder 22, thereby the rubber bush 2 For a predetermined time in the axial direction of three axes orthogonal to each other (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes orthogonal to each other (Z1 axis in this embodiment) Deform.
In this embodiment, the rubber bush 2 is substantially deformed in the axial direction of the X2, Y2 and Z2 axes and in the circumferential direction of the X2 axis.

The rubber bush 2 is arranged in the axial direction of three axes orthogonal to each other (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes orthogonal to each other (in this embodiment, the Z1 axis). While being deformed, the control unit 4a includes three orthogonally intersecting rubber bushes 2 detected by the X-axis translation sensor 23, the Y-axis translation sensor 24, the Z-axis translation sensor 25, and the Z-axis rotation sensor 26 over time. The amount of deformation in the axial direction of the shaft (X1 axis, Y1 axis, Z1 axis) and the circumferential direction of any one of the three axes (Z1 axis), and the rubber detected over time by the six-component force meter 19 Information relating to axial and circumferential loads of three axes (X1 axis, Y1 axis, Z1 axis) of the bush 2 orthogonal to each other is acquired (see FIG. 13).
In the case of the present embodiment, the control unit 4a substantially includes information related to the X2 axis, Y2 axis, Z2 axis axial direction of the rubber bushing 2 and the amount of deformation in the circumferential direction of the X2 axis, the X2 axis, the Y2 axis, The information about the axial direction of the Z2 axis and the load in the circumferential direction of the X2 axis, the Y2 axis, and the Z2 axis is acquired.
After a predetermined time elapses, the third load displacement detection process 300 ends, and the process proceeds to the transformation matrix generation process 400.

Hereinafter, the transformation matrix generation process 400 will be described. The transformation matrix generation step 400 is an embodiment of the third load displacement detection step according to the present invention.
In the conversion matrix generation step 400, the control unit 4a determines the rubber bushing 2 obtained from the X-axis translation sensor 23, the Y-axis translation sensor 24, the Z-axis translation sensor 25, and the Z-axis rotation sensor 26 in the first load displacement detection step 100. Information over time concerning the amount of deformation in the axial direction of the three axes orthogonal to each other and information over time concerning the amount of deformation in the circumferential direction of one axis, and the rubber bush 2 obtained from the six-component force meter 19 orthogonal to each other Based on the time-dependent information on the axial loads of the three axes and the time-dependent information on the circumferential loads on the three axes, a first transformation matrix expressed by the following equation 1 is created. To do.

Here, Dx, Dy, and Dz represent the amount of deformation (displacement) of the rubber bush 2 in the X2 axis, Y2 axis, and Z2 axis, respectively, and Az represents the amount of deformation (displacement) of the rubber bush 2 in the circumferential direction of the Z2 axis. ). Fx, Fy, and Fz represent the load in the axial direction of the X2, Y2, and Z2 axes of the rubber bush 2, respectively. Mx, My, and Mz represent the circumferences of the X2, Y2, and Z2 axes of the rubber bush 2, respectively. Expresses the load in the direction. Further, (Fx) ² , (Fy) ² , and (Fz) ² represent the squares of Fx, Fy, and Fz, respectively, and d (Fx), d (Fy), and d (Fz) represent Fx, Fy, and Fz, respectively. Represents the one-time derivative of.

Taking the relationship between the deformation amount Dy in the Y2 axis direction and the load Fy in the Y2 axis direction in the first posture of the rubber bush 2 shown in FIG. 14 as an example, the deformation of the rubber bush 2 in the Y2 axis direction in the first posture. The relationship between the quantity Dy and the load Fy in the Y2 axis direction is not a single straight line, and it is clear that the reliability is low when Dy is expressed as a linear function of Fy (Dy = b2 × Fy). .
Further, the relationship between the deformation amount Dy in the Y2 axis direction and the load Fy in the Y2 axis direction in the first posture of the rubber bush 2 is not a single curve (thick solid line in FIG. 14), and a plurality of curves Since Dy is expressed as a function of Fy (Dy = b2 × Fy + b8 × (Fy) ² + b14 × d (Fy)), the reliability is low. it is obvious.
Therefore, in this embodiment, the first transformation matrix is used to obtain the deformation amount of the rubber bush 2 as the sum of the primary component, the high-order component, and the differential component in the axial and circumferential loads of the X2, Y2, and Z2 axes. Is stipulated.
At this time, each component (a1 to a18, b1 to b18, c1 to c18, d1 to d18) in the first transformation matrix is time-dependent on the amount of deformation in the axial direction of three mutually orthogonal axes of the rubber bush 2. Information and information over time related to the amount of deformation in the circumferential direction of one shaft, information over time related to the axial load of the three axes perpendicular to each other of the rubber bush 2, and load in the circumferential direction of the three shafts It is calculated | required using the least squares method based on the time-dependent information concerning.

  Next, in the second load displacement detection step 200, the control unit 4a performs three orthogonally intersecting rubber bushes 2 obtained from the X-axis translation sensor 23, the Y-axis translation sensor 24, the Z-axis translation sensor 25, and the Z-axis rotation sensor 26. Information about the amount of deformation in the axial direction of one axis and information about time about the amount of deformation in the circumferential direction of one axis, and three axes of the rubber bush 2 orthogonal to each other obtained from the six-component force meter 19 Based on the time-dependent information on the axial load and the time-dependent information on the circumferential loads of the three axes, a second transformation matrix expressed by the following formula 2 is created.

In this embodiment, the second transformation matrix is defined to obtain the deformation amount of the rubber bush 2 as the sum of the primary component, high-order component and differential component of the axial and circumferential loads of the X2-axis, Y2-axis, and Z2-axis. is doing.
At this time, each component (a1 to a18, b1 to b18, c1 to c18, and e1 to e18) in the second transformation matrix is temporally related to the amount of deformation in the axial direction of the three axes of the rubber bush 2 orthogonal to each other. Information and information over time related to the amount of deformation in the circumferential direction of one shaft, information over time related to the axial load of the three axes perpendicular to each other of the rubber bush 2, and load in the circumferential direction of the three shafts It is calculated | required using the least squares method based on the time-dependent information concerning.

  Subsequently, in the second load displacement detection step 300, the control unit 4a performs three orthogonally intersecting rubber bushes 2 obtained from the X-axis translation sensor 23, the Y-axis translation sensor 24, the Z-axis translation sensor 25, and the Z-axis rotation sensor 26. Information about the amount of deformation in the axial direction of one axis and information about time about the amount of deformation in the circumferential direction of one axis, and three axes of the rubber bush 2 orthogonal to each other obtained from the six-component force meter 19 Based on the time-dependent information related to the axial load and the time-dependent information related to the circumferential loads on the three axes, a third transformation matrix expressed by the following Equation 3 is created.

In this embodiment, the second transformation matrix is defined to obtain the deformation amount of the rubber bush 2 as the sum of the primary component, high-order component and differential component of the axial and circumferential loads of the X2-axis, Y2-axis, and Z2-axis. is doing.
At this time, each component (a1 to a18, b1 to b18, c1 to c18, and f1 to f18) in the third transformation matrix is related to the amount of deformation in the axial direction of the three axes perpendicular to each other of the rubber bush 2. Information and information over time related to the amount of deformation in the circumferential direction of one shaft, information over time related to the axial load of the three axes perpendicular to each other of the rubber bush 2, and load in the circumferential direction of the three shafts It is calculated | required using the least squares method based on the time-dependent information concerning.

  Subsequently, the control unit 4a generates a transformation matrix H represented by the following Equation 4 by combining the first transformation matrix, the second transformation matrix, and the third transformation matrix.

When the transformation matrix generation process 400 is completed, the process proceeds to the inverse transformation matrix generation process 500.
In the present embodiment, the primary component of the load, the secondary component of the load, and the differential component of the load are used as the components for generating the transformation matrix H. However, the tertiary is used depending on the material and shape of the object. The reliability of the transformation matrix H can be improved by using the above higher-order components, differential components greater than or equal to the second derivative, or constants.
In this embodiment, the X2 axis, the Y2 axis, and the Z2 axis of the rubber bush 2 are respectively represented by the first transformation matrix (see Equation 1), the second transformation matrix (see Equation 2), and the third transformation matrix (see Equation 3). The components (a1 to a18, b1 to b18, and c1 to c18) for calculating the amount of deformation in the axial direction are obtained redundantly, but as these components in the transformation matrix H (see Equation 4), What was calculated | required in any one of a 1st transformation matrix, a 2nd transformation matrix, and a 3rd transformation matrix may be used, or an average value may be used.

Hereinafter, the inverse transformation matrix generation process 500 will be described. The inverse transformation matrix generation process 500 is an embodiment of the inverse transformation matrix generation process according to the present invention.
In the inverse transformation matrix generation step 500, the control unit 4a is based on the transformation matrix H (see Equation 4) for calculating the deformation amount from the load of the rubber bush 2 generated in the transformation matrix generation step 400. An inverse transformation matrix H ⁻¹ for calculating a load from the deformation amount is generated.
The inverse transformation matrix H ⁻¹ is expressed by the following formula 5.

As described above, the load displacement calculating device 1 is
The circumferential direction of one of the axes (X1 axis, Y1 axis, Z1 axis) of the rubber bush 2 in the first attitude and the three axes orthogonal to each other from the first attitude (X1 axis in this embodiment) One of the second posture rotated 90 degrees at the same time, and the remaining two axes (Y1-axis, Z1-axis) of the three axes (X1-axis, Y1-axis, Z1-axis) orthogonal to each other from the second posture Support means for supporting in a third posture rotated 90 degrees in the circumferential direction of the shaft (Y1 axis in the case of the present embodiment) (in the case of this embodiment, the vibration table side fixing jig 16 and the six-component force meter side fixing) The jig 20 corresponds to the support means);
The rubber bush 2 is deformed in the axial direction of three axes (X1 axis, Y1 axis, Z1 axis) orthogonal to each other and the circumferential direction of any one of the three axes (Z1 axis in this embodiment). Deformation means (in this embodiment, the vibration table 12, the X-axis translation cylinder 13, the Y-axis translation cylinder 14, the rotary disk 15, the Z-axis translation cylinders 17, 17, 17, 17, the link mechanism 21 and the Z-axis rotation cylinder) 22 corresponds to this)
Deformation amount (Dx, Dy and Dz) in the axial direction of three mutually orthogonal axes (X1 axis, Y1 axis, Z1 axis) of rubber bush 2 and any one of the three axes (in the case of this embodiment) , Z1 axis) deformation amount detecting means for detecting the amount of deformation (Ax, Ay or Az) in the circumferential direction over time (in this embodiment, X-axis translation sensor 23, Y-axis translation sensor 24, Z-axis translation sensor) 25 and the Z-axis rotation sensor 26 correspond to deformation amount detection means),
Axial load (Fx, Fy and Fz) and circumferential load (Mx, My and Mz) of three axes (X1 axis, Y1 axis and Z1 axis) perpendicular to each other of rubber bush 2 are detected over time. Load detection means (in the case of the present embodiment, the six-component force meter 19 corresponds to the load detection means);
Information on the deformation amount in the first posture, the second posture, and the third posture of the rubber bush 2 detected over time by the deformation amount detection unit, and the rubber bush detected over time by the load detection unit Conversion matrix generating means for generating a conversion matrix H for calculating a deformation amount from the load of the rubber bush 2 on the basis of information relating to loads in the first posture, the second posture, and the third posture of the second In the case of the embodiment, the control unit 4a of the control device 4 in which the load displacement calculation program is stored corresponds to a conversion matrix generation unit),
It comprises.
By comprising in this way, it is possible to use one actuator for deforming the rubber bush 2 in the circumferential direction of three axes orthogonal to each other. Therefore, it is possible to reduce the size and simplification of the apparatus, which in turn contributes to a reduction in equipment costs.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).
The X-axis translation cylinder 13, the Y-axis translation cylinder 14, the Z-axis translation cylinders 17, 17, 17, 17 and the Z-axis rotation cylinder 22, which are embodiments of the deformation means of this embodiment, are all hydraulic cylinders. The deformation means according to the present invention may have another configuration as long as it is an actuator capable of extending and contracting. For example, it may be composed of a pneumatic cylinder or a combination of a ball screw and a motor.

The load displacement calculation device 1 is
A rubber bush is provided by a translation actuator (an actuator that extends and contracts, and in this embodiment, the Z-axis rotating cylinder 22 corresponds to a translation actuator) and a link mechanism 21 that converts the extension motion and contraction motion of the translation actuator into rotation motion. 2 is deformed in the circumferential direction of any one of three axes orthogonal to each other (in this embodiment, the Z1 axis).
With this configuration, it is possible to impart circumferential deformation (twist deformation or twist deformation) to the rubber bush 2 with a simple configuration, which contributes to a reduction in equipment costs.

The load displacement calculation device 1 is
Based on the transformation matrix H generated by the transformation matrix generation means, the inverse transformation matrix generation means for generating the inverse transformation matrix H ⁻¹ for calculating the load from the deformation amount of the rubber bush 2 (in this embodiment, The control unit 4a of the control device 4 in which the load displacement calculation program is stored corresponds to an inverse transformation matrix generation unit).
By configuring in this way, an inverse transformation matrix having high reliability in consideration of interference components in the axial direction and the circumferential direction of three axes orthogonal to each other (the accuracy of the calculation result when the load is calculated from the deformation amount is good). Can be generated. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

The load displacement calculation device according to the present invention is not limited to the load displacement calculation device 1 of the present embodiment,
Support means capable of supporting the object in a plurality of postures orthogonal to each other;
Deformation means for translating and deforming the object in at least one direction and twisting and deforming in at least one direction;
Deformation amount detection means for detecting over time the translation deformation amount in the direction in which the object is deformed in translation and the twist deformation amount in the direction in which the object is torsionally deformed by the deformation means;
Load detecting means for detecting over time a translation load in a direction in which the object is deformed in translation by the deformation means and a torsion load in a direction in which the object is torsionally deformed;
Information relating to the translational deformation amount and torsional deformation amount in each posture of the object detected over time by the deformation amount detection means, and the translational load in each posture of the object detected over time by the load detection means And a transformation matrix generating means for generating a transformation matrix for calculating the translational deformation amount and the torsional deformation amount from the translational load and the torsional load of the object based on the information relating to the torsional load,
It is good also as a load displacement calculation apparatus which comprises.

The minimum value of the number of “plural postures” is the smaller of the number of translational deformation directions and the number of twisting deformation directions (when the number of translational deformation directions and the number of twisting deformation directions are the same) Is a value obtained by subtracting the number from 4). In addition, the load displacement calculation apparatus according to the present invention excludes a configuration including a deformation unit that translates and deforms an object in three orthogonal directions and twists and deforms in three orthogonal directions.
For example, a load displacement calculation device configured to translate an object in the axial direction of three axes (X1 axis, Y1 axis, and Z1 axis) and torsionally deform in the circumferential direction of two axes (Y1 axis and Z1 axis). In this case, the object may be translated and twisted in at least two postures.
In addition, in the case of a load displacement calculation device configured to translate an object in the axial direction of one axis (Z1 axis) and torsionally deform in the circumferential direction of one axis (Z1 axis), the object in at least three postures What is necessary is just to translate and torsionally deform an object.

By adopting such a configuration, it is possible to reduce the number of actuators for translating or twisting the object (in comparison with a load displacement calculating device that performs translational deformation in three directions and twisting deformation in three directions). . Therefore, it is possible to reduce the size and simplification of the apparatus, which in turn contributes to a reduction in equipment costs.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

An embodiment of the load displacement calculation method according to the present invention is as follows:
The rubber bush 2 is supported in a first posture, and the axial direction of three axes (X1, Y1, and Z1 axes) orthogonal to each other and any one of the three axes (in this embodiment, Z1) Axis (X1 axis, Y1 axis, Z1 axis) axial deformation amount (Dx, Dy, Dz) and any one of the three axes (X1 axis, Y1 axis, Z1 axis) In the case of the present embodiment, the deformation amount (Az) in the circumferential direction of the Z1 axis) is detected over time, and the axial loads (Fx, X1 axis, Y1 axis, Z1 axis) of the three axes orthogonal to each other (X1, A1, and Z1 axes). Fy, Fz) and a circumferential load (Mx, My, Mz) are detected over time, a first load displacement detection step 100;
The rubber bush 2 is supported in a second posture rotated 90 degrees in the circumferential direction of any one of the three shafts orthogonal to each other from the first posture (X1 axis in this embodiment), and orthogonal to each other. Three axes (X1 axis, Y1 axis, Z1 axis) to be deformed in the axial direction and the circumferential direction of any one of the three axes (in this embodiment, the Z1 axis), Deformation (Dx, Dy, Dz) in the axial direction of the axis (X1 axis, Y1 axis, Z1 axis) and circumferential deformation of any one of the three axes (in this embodiment, the Z1 axis) The amount (Ay) is detected over time, and the axial load (Fx, Fy, Fz) and the circumferential load (Mx, My, Mz) over time, a second load displacement detection step 200,
One of the remaining two axes (in this embodiment, the Y1 axis and the Z1 axis) of the three axes (X1, Y1, and Z1 axes) orthogonal to each other from the second posture of the rubber bush 2 (In the case of the present embodiment, the Y1 axis) is supported in a third posture rotated 90 degrees in the circumferential direction, and the three axes (X1, Y1, and Z1 axes) orthogonal to each other and the three axes Is deformed in the circumferential direction of any one of the axes (in this example, the Z1 axis), and the axial deformation amount (Dx, Dy, Dz) and the amount of deformation (Ax) in the circumferential direction of any one of the three axes (in this example, the Z1 axis) are detected over time, and three axes (X1 axis, Y1 axis, Z1 axis) axial load (Fx, Fy, Fz) and circumferential load (Mx) My, Mz) and the third load displacement detection step 300 with time detected,
Deformation of the rubber bush 2 in the first posture, the second posture, and the third posture detected over time in the first load displacement detection step 100, the second load displacement detection step 200, and the third load displacement detection step 300. Based on the information on the amount and the information on the load in the first posture, the second posture and the third posture of the object, a transformation matrix H for calculating the deformation amount from the load of the rubber bush 2 is generated. A transformation matrix generation step 400;
It comprises.
By comprising in this way, it is possible to use one actuator for deforming the rubber bush 2 in the circumferential direction of three axes orthogonal to each other. Therefore, it is possible to reduce the size and simplification of the apparatus that performs the load displacement calculation method, which contributes to the reduction of the equipment cost.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

An embodiment of the load displacement calculation method according to the present invention is as follows:
Based on the transformation matrix generated in the transformation matrix generation step 400, an inverse transformation matrix generation step 500 for generating an inverse transformation matrix H- ¹ for calculating a load from the deformation amount of the rubber bush 2 is provided.

  By configuring in this way, an inverse transformation matrix having high reliability in consideration of interference components in the axial direction and the circumferential direction of three axes orthogonal to each other (the accuracy of the calculation result when the load is calculated from the deformation amount is good). Can be generated. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

In addition, the load displacement calculation method according to the present invention is not limited to one embodiment of the load displacement calculation method of the present embodiment,
The posture of the object is supported in a plurality of postures orthogonal to each other, and each posture of the plurality of postures is translated and deformed in at least one direction and twisted and deformed in at least one direction. Load displacement detection that detects the amount of deformation and the amount of twist deformation in the direction of torsional deformation over time, and detects the translational load in the direction of translational deformation of the object and the torsional load in the direction of torsional deformation over time. Process,
Based on information relating to the translational deformation amount and torsional deformation amount in each posture of the object detected over time in the load displacement detection step, and information relating to the translational load and torsional load in each posture of the object, A transformation matrix generating step for generating a transformation matrix for calculating the translational deformation amount and the torsional deformation amount from the translational load and the torsional load of the object;
It is good also as a load displacement calculation method comprising.

The minimum value of the number of “plural postures” is the smaller of the number of translational deformation directions and the number of twisting deformation directions (when the number of translational deformation directions and the number of twisting deformation directions are the same) Is a value obtained by subtracting the number from 4). Further, the load displacement calculation method according to the present invention excludes a configuration in which the object is translated and deformed in three directions orthogonal to each other and twisted in three directions orthogonal to each other.
For example, a load displacement calculation method having a configuration in which an object is translated and deformed in the axial direction of three axes (X1 axis, Y1 axis, and Z1 axis) and twisted in the circumferential direction of two axes (Y1 axis and Z1 axis). In this case, the object may be translated and twisted in at least two postures.
In addition, in the case of the load displacement calculation method configured to translate the object in the axial direction of one axis (Z1 axis) and torsionally deform in the circumferential direction of one axis (Z1 axis), the object is measured in at least three postures. What is necessary is just to translate and torsionally deform an object.

By adopting such a configuration, it is possible to reduce the number of actuators for translating or twisting the object (in comparison with a load displacement calculating device that performs translational deformation in three directions and twisting deformation in three directions). . Therefore, it is possible to reduce the size and simplification of the apparatus, which in turn contributes to a reduction in equipment costs.
In addition, it is possible to generate a transformation matrix with high reliability (highly accurate calculation results when the deformation is calculated from the load) in consideration of the axial and circumferential interference components of three axes orthogonal to each other. is there. In particular, the effect is great when the deformation amount of the object is large, or when the material constituting the object is highly nonlinear (when the deformation behavior has hysteresis).

The front view of one Embodiment of the load displacement calculation apparatus which concerns on this invention. The top view of a rubber bush. The WW arrow side surface sectional drawing of a rubber bush. The perspective view of a rubber bush. The principal part perspective view of one Embodiment of the load displacement calculation apparatus which concerns on this invention. The schematic diagram of the rubber bush supported by the load displacement calculation apparatus by the 1st attitude | position. The figure which shows the azimuth | direction relationship of the rubber bush in a 1st attitude | position, and a load displacement calculation apparatus. The schematic diagram of the rubber bush supported by the load displacement calculation apparatus with the 2nd attitude | position. The figure which shows the azimuth | direction relationship of the rubber bush in a 2nd attitude | position, and a load displacement calculation apparatus. The schematic diagram of the rubber bush supported by the load displacement calculation apparatus with the 3rd attitude | position. The figure which shows the azimuth | direction relationship of the rubber bush in a 3rd attitude | position, and a load displacement calculation apparatus. The flowchart which shows one Embodiment of the load displacement calculation method which concerns on this invention. The figure which shows an example of the time series data of the load added to a rubber bush. The figure which shows an example of the relationship between the load added to a rubber bush, and a deformation amount.

Explanation of symbols

1 Load displacement calculation device 2 Rubber bush (object)
4a Control unit (conversion matrix generation means)
12 Excitation table (deformation means)
13 X-axis translation cylinder (deformation means)
14 Y-axis translation cylinder (deformation means)
15 Turntable (deformation means)
16 Shaking table side fixing jig (support means)
17 Z-axis translation cylinder (deformation means)
19 Six-component force meter (load detection means)
20 Six-component force meter side fixing jig (support means)
21 Link mechanism (deformation means)
22 Z-axis rotating cylinder (deformation means)
23 X-axis translation sensor (deformation amount detection means)
24 Y-axis translation sensor (deformation amount detection means)
25 Z-axis translation sensor (deformation detection means)
26 Z-axis rotation sensor (deformation amount detection means)

Claims (7)

Support means capable of supporting the object in a plurality of postures orthogonal to each other;
Deformation means for translating and deforming the object in at least one direction and twisting and deforming in at least one direction;
Deformation amount detection means for detecting over time the translation deformation amount in the direction in which the object is deformed in translation and the twist deformation amount in the direction in which the object is torsionally deformed by the deformation means;
Load detecting means for detecting over time a translation load in a direction in which the object is deformed in translation by the deformation means and a torsion load in a direction in which the object is torsionally deformed;
Information relating to the translational deformation amount and torsional deformation amount in each posture of the object detected over time by the deformation amount detection means, and the translational load in each posture of the object detected over time by the load detection means And a transformation matrix generating means for generating a transformation matrix for calculating the translational deformation amount and the torsional deformation amount from the translational load and the torsional load of the object based on the information relating to the torsional load,
A load displacement calculation device comprising: The first posture, the second posture rotated 90 degrees in the circumferential direction of any one of the three axes orthogonal to each other from the first posture, and the three postures orthogonal to each other from the second posture Support means for supporting in a third posture rotated 90 degrees in the circumferential direction of one of the remaining two shafts of the two shafts;
Deformation means for deforming the object in the axial direction of three axes orthogonal to each other and in the circumferential direction of any one of the three axes;
Deformation amount detecting means for detecting the deformation amount in the axial direction of three axes orthogonal to each other of the object and the deformation amount in the circumferential direction of any one of the three axes,
Load detecting means for detecting the load in the axial direction and the load in the circumferential direction of the three orthogonal axes of the object over time;
Information on the deformation amount in the first posture, the second posture, and the third posture of the object detected over time by the deformation amount detection means, and information on the object detected over time by the load detection means. Conversion matrix generation means for generating a conversion matrix for calculating a deformation amount from the load of the object based on information on the load in the first posture, the second posture, and the third posture;
A load displacement calculation device comprising:   The deforming means deforms the object in a circumferential direction of any one of three axes orthogonal to each other by a translation actuator and a link mechanism that converts the extension motion and the contraction motion of the translation actuator into a rotation motion. Item 3. The load displacement calculation device according to Item 2.   4. The method according to claim 2, further comprising: an inverse transformation matrix generation unit configured to generate an inverse transformation matrix for calculating a load from a deformation amount of the object based on the transformation matrix generated by the transformation matrix generation unit. The load displacement calculation apparatus of description. The posture of the object is supported in a plurality of postures orthogonal to each other, and each posture of the plurality of postures is translated and deformed in at least one direction and twisted and deformed in at least one direction. Load displacement detection that detects the amount of deformation and the amount of twist deformation in the direction of torsional deformation over time, and detects the translational load in the direction of translational deformation of the object and the torsional load in the direction of torsional deformation over time. Process,
Based on information relating to the translational deformation amount and torsional deformation amount in each posture of the object detected over time in the load displacement detection step, and information relating to the translational load and torsional load in each posture of the object, A transformation matrix generating step for generating a transformation matrix for calculating the translational deformation amount and the torsional deformation amount from the translational load and the torsional load of the object;
A load displacement calculation method comprising: The object is supported in a first posture, deformed in the axial direction of three axes orthogonal to each other and the circumferential direction of any one of the three axes, and the deformation amount in the axial direction of the three axes orthogonal to each other And a first load that detects the amount of deformation in the circumferential direction of any one of the three shafts over time and detects the load in the axial direction and the load in the circumferential direction of the three axes orthogonal to each other over time. A displacement detection step;
The object is supported in a second posture rotated 90 degrees in the circumferential direction of any one of the three axes orthogonal to each other from the first posture, and the axial directions of the three axes orthogonal to each other and the three axes. By deforming in the circumferential direction of any one of the three axes, the amount of deformation in the axial direction of three axes orthogonal to each other and the amount of deformation in the circumferential direction of any one of the three axes are detected over time. And a second load displacement detection step for detecting the axial load and the circumferential load of the three axes orthogonal to each other over time,
The object is supported in a third posture rotated 90 degrees in the circumferential direction of one of the remaining two axes orthogonal to each other from the second posture, and the three axes orthogonal to each other are supported. Deform in the axial direction and the circumferential direction of any one of the three axes, and determine the amount of deformation in the axial direction of the three axes orthogonal to each other and the amount of deformation in the circumferential direction of any one of the three axes. A third load displacement detecting step for detecting the load in the axial direction and the load in the circumferential direction of the three axes orthogonal to each other with time,
Deformation amounts in the first posture, the second posture, and the third posture of the object detected over time in the first load displacement detection step, the second load displacement detection step, and the third load displacement detection step A transformation matrix for generating a transformation matrix for calculating a deformation amount from the load of the object based on the information on the object and the information on the load in the first attitude, the second attitude, and the third attitude of the object Generation process;
A load displacement calculation method comprising:   The load displacement according to claim 6, further comprising an inverse transformation matrix generation step for generating an inverse transformation matrix for calculating a load from a deformation amount of the object based on the transformation matrix generated in the transformation matrix generation step. Calculation method.

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