KR101533382B1 - System for measuring and assembling center of gravity for 2-axis driving apparatus - Google Patents

Abstract

Disclosed is a system for measuring and assembling the center of gravity of a biaxial gimbal driving device comprising: a measuring part including a pressure plate on which a measured object is mounted, and a plurality of load cell sensors arranged in the lower end of the pressure plate to generate a measurement signal by measuring pressure generated by the measured object respectively; a center of gravity calculating part to generate a direction switching signal for switching the direction of measuring the center of gravity of each component, to calculate the three dimensional center of gravity by each component of a biaxial gimbal driving device which is a measured object by analyzing the measurement signal applied from the measuring part, and to output a combined control signal for combining each component based on the calculated center of gravity by each component; and a drive combination part to mount each component on the pressure plate in the direction of an azimuth axis according to control of the center of gravity calculating part. to mount the component mounted on the pressure plate in the direction of an elevation axis in response to the direction switching signal, and to combine components in response to the combined control signal.

Description

TECHNICAL FIELD [0001] The present invention relates to a system for measuring a center-of-gravity of a two-axis gimbals drive apparatus,

The present invention relates to a center of gravity measurement and assembly system, and more particularly to a center of gravity measurement and assembly system for a two-axis drive.

A search device such as a surveillance camera or a radar that detects and tracks a target is generally configured so that the direction of the target can be freely adjusted so as to change the surveillance area or to detect and track a moving target. Also, a biaxial gimbal (2 axis gimbal) is mainly used as a driving device for supporting a structure such as a surveillance camera or a radar antenna and providing a degree of freedom in a direction of orientation.

1 shows an example of a searcher using a conventional two-axis gimbals.

The searcher of FIG. 1 includes a biaxial gimbals 20 which are coupled to an optical system 10 for focusing incident light and an optical system 10 and are rotatable by a pitch axis and a yaw axis. In the biaxial gimbals, a sensor unit (not shown) may be provided to sense the light condensed by the optical system 10 and generate an image signal.

The biaxial gimbals have a fixing part 22 fixed to a position where the searcher is equipped, and a rotation part 22 coupled to the fixing part and rotatable in the pitch and yaw axis directions. The optical system 10 of the searcher is coupled to the rotation unit 21 so that the direction of the orientation is adjusted.

Generally, the optical system 10 coupled to the dual-axis gimbals 20 is fixed in a coupled state. However, in the case of a navigator that is mounted on a moving object such as a vehicle or a flying object and is configured to detect a target while moving at high speed, There are many cases in which it is difficult to maintain the direction in which the user desires to search.

Therefore, a gyro technique has been proposed and applied to minimize disturbance to the direction of the searcher. The gyro technique allows the optical system 10 to rotate at a high speed to have a large amount of momentum, so that the orientation can be stably maintained even in a place where the disturbance is strong, such as when the searcher is mounted on a high-speed mobile body. The optical system 10 to which the gyro technique is applied is coupled to the other end of the rotation part 21 coupled to the fixing part 22 at one end so as to be rotatable in the roll axis direction.

However, the gyro technique for rotating the optical system 10 at a high speed can be usefully used only when the optical system 10 rotates stably. If the center of gravity of the optical system 10 does not coincide with the central axis of the rotating optical system and the central axis of the biaxial gimbal 20, vibration due to rotation of the optical system 10 occurs, have. In addition, there is a problem that a large vibration is generated even when the optical axis is not perpendicular to the central axis of the rotation direction biaxial gimbal 20 of the optical system 10.

Accordingly, in the searcher as shown in FIG. 1, the mass unbalance of the two-axis driving device must be corrected in order to be configured so that the biaxial load cell can precisely control the direction of the structure such as the optical system 10. In the two-axis drive system, mass unbalance not only unnecessarily applies a load to the drive, but also increases wear and shortens the service life and increases power consumption.

Therefore, it is necessary to adjust in advance to prevent mass unbalance of the two-axis driving device. In order to correct the mass unbalance, it is necessary to first measure the center of gravity of the two-axis driving device.

However, the conventional method of measuring the center of gravity of the two-axis driving device measures the center of gravity on the XY plane, and neglects the center of gravity in the height direction Z axis direction, that is, the center of gravity in the height direction. In addition, only the degree of deviation of the center of gravity from the driving axis was measured quantitatively while all the components of the two-axis driving device were combined.

In the uniaxial driving device, it is easy to check whether the driving shaft passes through the center of gravity even if the center of gravity is measured in a state where all the components are coupled as described above, and it is easy to correct the driving shaft even if the driving shaft does not pass through the center of gravity.

However, since a plurality of drive shafts can be driven in different directions in a multi-axis drive system of more than two axes, the center of gravity measured in a state where all the components are combined does not greatly affect the motion of the actual drive shaft. Therefore, even if one driving shaft is coupled to pass through the center of gravity of the multi-axis driving device, if the remaining driving shaft does not pass through the center of gravity, mass unbalance occurs when the other shaft is driven, A problem arises.

Korean Patent Laid-Open No. 10-2012-0057162 (published Jun. 25, 2012)

It is an object of the present invention to provide a center of gravity measurement and assembly system for a two-axis gimbal drive.

According to an aspect of the present invention, there is provided a biaxial gimbals drive system including a pressure plate on which an object to be measured is mounted and a pressure plate disposed on a lower end of the pressure plate, A measuring unit including a plurality of load cell sensors for measuring a pressure to generate a measurement signal; A direction switching signal for switching the measurement direction of the center of gravity of each component is generated and the measurement signal applied from the measurement unit is analyzed to determine the center of gravity of each component of the two- A center of gravity calculation unit for calculating a center of gravity of each component and outputting a coupling control signal for coupling the respective components based on the calculated center of gravity of each component; And mounting each component on the pressure plate in the axial direction of the azimuth axis under the control of the center of gravity calculating section and mounting the component mounted on the pressure plate in the elevation axis direction in response to the direction switching signal And a drive coupling unit coupling the components in response to the coupling control signal.

The plurality of load cells may be disposed at positions symmetrical to each other with respect to the center of gravity in four quadrants based on the center of gravity of the pressure plate.

Wherein the center of gravity calculation unit calculates and stores the nonlinearity and hysteresis characteristics of the plurality of load cell sensors in advance and stores the measured center of gravity of the measured object in the calculation of the center of gravity of the measured object, do.

When the center of gravity of the measured object in the azimuth axis direction is obtained, the center-of-gravity calculator controls the drive-coupled unit to rotate the measured object relative to the Y-axis of the XY coordinate system, (Y _CG , Z _CG ) of the measured object from the two calculated two-dimensional center of gravity (X _CG , Y _CG ), (Y _CG , Z _CG ) Dimensional center of gravity (X _CG , Y _CG , Z _CG ).

Wherein the drive coupling unit is coupled to the mounting unit and is mounted on the pressure plate so that the azimuth axis of the measurement target is horizontally mounted to the pressure plate when the direction switching signal is applied from the center- And the center of gravity of the means is placed at the center of the pressure plate.

The center-of-gravity control unit, in response to the coupling control signal, mounts one of the two components to be coupled among the respective components of the two-axis driving apparatus such that the center of gravity is disposed on the Z axis of the pressure plate , The center of gravity of the other component is positioned on the Z axis of the pressure plate, and then the two components are coupled.

The center-of-gravity calculation unit calculates the center of gravity of the combined component, and if the center of gravity of the combined component is not located on the Z-axis of the pressure plate, it is determined that a coupling error has occurred, And the coupling state is controlled such that the center of gravity of the combined component is located on the Z axis.

Therefore, the center-of-gravity measurement and assembly system of the present invention can measure the center of gravity for each component of the two-axis drive system, By combining each component as a standard, it is possible to precisely assemble the biaxial gimbals drive unit and correct the center-of-gravity error instantly. In addition, productivity and productivity can be improved as the measurement and assembly are performed collectively.

1 shows an example of a searcher using a conventional two-axis gimbals.
FIG. 2 shows a center-of-gravity measurement and assembling system of a two-axis gimbals drive apparatus according to an embodiment of the present invention.
Fig. 3 shows an embodiment of the measurement section of Fig.
4 shows the manner in which the drive coupling unit mounts the two-axis drive unit on the pressure plate of the measurement unit.
FIG. 5 shows a concept of measuring the center of gravity of a two-axis driving apparatus using the center-of-gravity measuring apparatus of FIG.
6 shows a method of measuring the center of gravity of the two-axis driving device.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.

Throughout the specification, when an element is referred to as "including" an element, it does not exclude other elements unless specifically stated to the contrary. The terms "part", "unit", "module", "block", and the like described in the specification mean units for processing at least one function or operation, And a combination of software.

FIG. 2 shows a center-of-gravity measuring and assembling system of a biaxial gimbals driving apparatus according to an embodiment of the present invention, and FIG. 3 shows an embodiment of the measuring unit of FIG.

2 includes a measuring unit 100, a center-of-gravity calculation unit 200, a display unit 300, and a drive coupling unit 400.

The measuring unit 100 includes a plurality of load cell sensors LC to measure a weight distribution of the stationary apparatus and transmit the measured weight to the center-of-gravity calculator 200.

3, the measuring unit 100 includes a pressure plate PL on which a biaxial driving device for measuring the center of gravity is mounted and a lower surface of the pressure plate PL, And four load cell sensors LC for generating measurement signals. The four load cell sensors LC are two-dimensional planes (XY planes) that are divided based on the center of the pressure plate PL so that the center of gravity of the two-axis drive apparatus disposed on the pressure plate PL can be easily measured. Are arranged equally one by one on each of the four quadrants of FIG. Although the number of the load cell sensors LC may be four or more, if the four load cell sensors LC are provided, the center of gravity can be easily calculated.

At this time, each of the four load cell sensors LC has a position (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₃ , y ₃ ), (x ₄ , y ₄ ). For example, each of the four load cell sensors LC may be disposed at each of four corners of the pressure plate PL, or may be disposed at each of four quadrant centers. However, the position where the load cell sensor LC is disposed can be adjusted in consideration of the weight or shape of the two-axis driving device to be measured.

The measuring unit 100 may further include a base plate BP below the four load cell sensors LC. The base plate BP is provided to adjust the pressure plate PL so as to maintain the horizontal position, and to support the pressure plate PL when the two-axis driving device is mounted. The base plate BP is preferably formed larger than the pressure plate PL so as to easily support the pressure plate PL.

In FIG. 3, the pressure plate PL and the base plate BP are illustrated as being formed in a rectangular shape. However, the shapes of the pressure plate PL and the base plate BP may be different. For example, the pressure plate PL and the base plate BP may be embodied as a disc. However, the pressure plate PL and the base plate BP should be formed so that the four quadrants have the same shape with respect to the center of the pressure plate PL.

The center-of-gravity calculation unit 200 receives a measurement signal from each of the four load cell sensors LC, analyzes the measurement signal, and calculates the center of gravity of the currently mounted apparatus. Center-of-gravity calculation unit 200 has a position _{((x 1, y 1)} 4 of the load cell sensor (LC) is disposed from the center of the pressure plate _{(PL), (x 2,} y 2), (x 3, y 3 (x ₄ , y ₄ ) are stored in advance, and the pressure values obtained by analyzing the measurement signals applied from the respective load cell sensors LC and the positions of the four load cell sensors LC are used to calculate the XY plane Axis driving device, which is the object to be measured.

Since the load cell sensor LC may have characteristics such as nonlinearity and hysteresis in this case, the center-of-gravity calculator 200 may check the characteristics of the load cell sensor LC beforehand, The measurement error can be reduced by reflecting in the center of gravity measurement.

The center-of-gravity calculation unit 200 may not simply measure the center of gravity of the apparatus mounted on the measuring unit 100 but may transmit the direction-switching signal to the stationary driving unit 400 to change the mounting direction of the stationary apparatus. can do. The center-of-gravity calculation unit 200 is used to measure the center of gravity in the Z-axis direction of the stationary device unlike the conventional gravity center measuring device.

When measuring the center of gravity in the Z-axis direction, the center-of-gravity calculation unit 200 controls the driving-coupling unit 400 to engage the other mounting means with the object to be measured and mount it on the pressure plate PL . The separate mounting means will be described later.

In addition, the center-of-gravity calculation unit 200 transmits the coupling control signal to the driving / coupling unit 400 so that each structure of the two-axis driving unit can be matched with the measured center of gravity. The center-of-gravity calculation unit 200 measures the center of gravity of each of the components of the two-axis driving device and transmits a coupling control signal to control the driving / coupling unit 400 to couple the respective components according to the measured center of gravity do.

The drive coupling unit 400 mounts the two-axis drive device on the pressure plate PL of the measurement unit 100 under the control of the center-of-gravity calculation unit 200.

4 shows the manner in which the drive coupling unit mounts the two-axis drive unit on the pressure plate of the measurement unit.

4, the two-axis driving device is simplified for convenience of explanation. In FIG. 4, (a) is a view for showing the center of gravity on the XY plane of the two-axis driving device, i.e., the center of gravity of the azimuth axis (B) shows a mounting method for measuring the center of gravity in the Z-axis direction, that is, the center of gravity of the elevation axis.

When the center of gravity of the agimus shaft is measured, as shown in (a), the drive coupling unit 400 drives the pressure plate PL so that the azimuth axis of the biaxial driving apparatus is in the Z axis direction of the measurement unit 100, Lt; / RTI >

However, in the case of measuring the center of gravity of the elevation shaft, it is mounted on the pressure plate PL of the measuring unit 100 in combination with a separate supporting means as shown in (b). Here, the reason why the driving coupling portion 400 engages with the pressure plate PL in combination with the mounting means is that when the angular axis of the two-axis driving device is not horizontal with the pressure plate PL, This is because the center can not be accurately measured. Then, the driving coupling portion 400 positions the center of the mounting means so as to be positioned at the center of the pressure plate PL so that the center-of-gravity measurement error due to the mounting means coupled with the two-axis driving device does not occur.

The center-of-gravity calculation unit 200 calculates the center of gravity of the pressure plate PL by first ignoring the weight in the Y-axis direction when the subject to be measured is placed on the pressure plate PL, (X _CG ) is calculated according to Equation (1).

Then, the weight in the X-axis direction is ignored, and the Y-axis center of gravity (Y _CG ) is calculated according to Equation (2). Here, W ₁ to W ₄ mean the pressure measured in the load cell LC, that is, the load applied to each of the plurality of load cells LC to be measured.

By acquiring the X-axis center of gravity X _CG and the Y-axis center of gravity (Y _CG ) according to Equations 1 and 2, the center of gravity on the XY plane of the measured object can be obtained.

The display unit 300 displays the measurement values of the load cell sensors LC obtained by the center-of-gravity calculation unit 200 and the positions of the center of gravity calculated based on the measured values to the user.

However, Equation 1 and Equation 2 can not measure the center of gravity of the biaxial driving apparatus in the Z-axis direction, and the center of gravity in the Z-axis direction can not be measured with the structure of the measuring unit 100 shown in Fig. Therefore, a separate method for measuring the center of gravity of the two-axis driving apparatus by using the measuring unit 100 capable of measuring the center of gravity on the XY plane should be devised.

FIG. 5 shows a concept of measuring the center of gravity of the two-axis driving apparatus using the center-of-gravity measuring apparatus of FIG. 2, and FIG. 6 shows a method of measuring the center of gravity of the two-axis driving apparatus.

5 and 6, the center-of-gravity calculation unit 200 of the center-of-gravity measurement apparatus firstly controls the drive-and-coupling unit 400 to calculate the center- As shown in the figure, the center of gravity is measured on the pressure plate PL so that the azimuth axis of the fixing part 22 of the two-axis driving device is in the Z-axis direction of the measuring part 100 (S11). The center-of-gravity calculation unit 200 receives the measured values from the plurality of load cell sensors LC of the measurement unit 100 and calculates the center of gravity X _F (X _F ) on the XY plane of the fixed unit 22, , Y _F ), i.e., calculates the two-dimensional center of gravity.

5 (b), the center-of-gravity calculation unit 200 controls the drive coupling unit 400 to couple the stationary unit 22 to the stationary unit 22, and the stationary unit The fixing unit 22 is rotated about the Y axis so that the elevation axis of the measurement unit 100 is in the Z axis direction of the measurement unit 100 and the center of gravity is measured on the pressure plate PL at step S12. At this time, the driving coupling portion 400 is mounted such that the center of gravity of the mounting means is aligned with the center of gravity of the pressure plate PL, so that no error occurs in the measurement of the center of gravity of the fixing portion 22 by the mounting means.

The center-of-gravity calculation unit 200 calculates the center-of-gravity (Y _F , Z) on the YZ plane of the fixing unit 22 from the measured values from the plurality of load cell sensors LC _F ) can be calculated.

The center of gravity calculation unit 200 calculates the center of gravity X _F and Y _F from the azimuth axis direction measurement of the fixing unit 22 and calculates the center of gravity Y _F and Z _F from the axial direction measurement Dimensional center of gravity (X _F , Y _F , Z _F ) of the fixing portion 22 (S13).

The center of gravity X _R and Y _R is calculated from the azimuth axis direction measurement in the same manner as the stationary portion 22 and the center of gravity Y _R and Z _R is calculated from the elevation axis direction measurement Dimensional center of gravity (X _R , Y _R , Z _R ) of the rotary unit 21 (S14).

5C, the center of gravity of the fixing part 22 obtained by controlling the driving coupling part 400 is positioned on the Z axis of the pressure plate PL And the center of gravity of the rotary part 21 is moved to be positioned on the Z axis of the pressure plate PL like the fixing part 22 at the upper end of the fixing part 22, (S15). That is, the angular axis passing through the center of gravity of the fixed portion 22 and the rotary portion 21 coincides with the Z axis of the pressure plate PL.

When the fixed portion 22 and the rotary portion 21 are coupled, the biaxial gimbal 20 is formed. Here, since the center of gravity of the fixing part 22 and the rotation part 21 is coupled with the Z axis of the pressure plate PL, the coupled two-axis gimbals 20 are basically aligned can do. However, the center of gravity of the coupled biaxial gimbals 20 may not coincide with the Z axis of the pressure plate PL due to a coupling error, unlike before coupling.

The center of gravity calculation unit 200 calculates the center of gravity X _G from the axial measurement of the (azimuth) axis of the biaxial gimbals 20 mounted on the pressure plate PL by the fixing unit 22 and the rotary unit 21, , Y _G), the calculation, and by rotating the two-axis gimbal 20, the Y-axis based on the second elevation axis of the axis gimbal 20, such that the Z-axis direction of the measurement unit 100 mounted on the pressure plate (PL) by measuring the center of gravity CG from the elevation axis direction measurement (Y _G, Z _G) to obtains a calculated by two-axis three-dimensional center of gravity (X _G, Y _G, Z _G) of the gimbal (20) (S16 ). That is, the center-of-gravity calculation unit 200 obtains the three-dimensional center of gravity X _G , Y _G , and Z _{G using the} two-axis gimbals 20 as one component, like the fixed unit 22 and the rotating unit 21 .

Then, it is determined whether the center of gravity of the obtained biaxial gimbals 20 is aligned with the Z axis on the pressure plate (S17). As a result of the determination, if the center of gravity of the biaxial gimbal 20 is not aligned with the Z axis on the pressure plate, it can be determined that the center of gravity of the two-axis gimbal 20 is displaced when the fixed portion 22 and the rotary portion 21 are engaged. 22 and the rotary part 21 are adjusted so that the center of gravity of the biaxial gimbal 20 can be aligned with the Z axis on the pressure plate S18. The adjustment of the coupling between the fixing part 22 and the rotation part 21 adjusts the position of the center of gravity by adjusting the coupling angle error or the like caused by the shape of the coupling part when the fixing part 22 and the rotation part 21 are coupled .

The center-of-gravity calculation unit 200 measures the azimuth axis direction and the axis direction of the elevation axis with respect to the optical system 10 in the same manner as the center-of-gravity measurement method of the fixing unit 22 and the rotation unit 21, (X ₀ , Y ₀ , Z ₀ ) of the three-dimensional center of gravity (S 19).

The center-of-gravity calculation unit 200 receives the center of gravity of the biaxial gimbal 20 on the Z axis of the pressure plate PL in the same manner as the combination of the fixed unit 22 and the rotary unit 21, Axis gimbals 20 and the optical system 10 are moved such that the center of gravity of the optical system 10 is located on the Z axis of the pressure plate PL and the biaxial gimbals 20 (10) are combined to constitute a biaxial gimbals drive apparatus (S20).

Then, the biaxial gimbals drive apparatus is mounted on the pressure plate PL as shown in FIGS. 5 (e) and 5 (f) to obtain the center of gravity (S21). The center-of-gravity calculation unit 200 determines whether the center of gravity of the obtained two-axis driving unit is aligned with the Z-axis of the pressure plate PL (S21).

If the center of gravity of the two-axis driving device is aligned with the Z axis on the pressure plate PL, it is determined that the two-axis driving device is correctly coupled with respect to the correct center of gravity and ends. However, if the center of gravity of the two-axis driving device is not aligned with the Z axis on the pressure plate PL, the coupling state of the optical system 10 is adjusted. In this case, when the center-of-gravity calculation unit 200 aligns the center of gravity by adjusting the coupling state of the two-axis gimbals 20, the alignment state of the fixed unit 22 and the rotation unit 21 of the two- Rather, it can be misplaced. The center-of-gravity calculation unit 200 adjusts the optical system 10, not the two-axis gimbal 20, to align the center of gravity of the two-axis gimbal drive unit. At this time, the coupling state of the optical system 10 can be adjusted by adding or removing a weight adjusting means such as a weight of the rotating optical system.

In the optical system 10, a plurality of weight adjusting means, which can be removed for adjusting the coupling, may be disposed at equal intervals on the outer circumferential surface of the weight adjusting means.

As a result, according to the present invention, the center-of-gravity measurement and assembling system of the two-axis gimbals driving apparatus measures the center of gravity of each component of the two-axis driving apparatus, and combines the respective components based on the measured center of gravity, Precise assembly of the drive is possible and the center of gravity error can be corrected immediately. In addition, productivity and productivity can be improved as the measurement and assembly are performed collectively.

The method according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and a carrier wave (for example, transmission via the Internet). The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims (8)

A measuring unit disposed at a lower end of the pressure plate, the measuring unit including a plurality of load cell sensors for measuring a pressure generated by the object to be measured and generating a measurement signal;
A direction switching signal for switching the measurement direction of the center of gravity of each component is generated and the measurement signal applied from the measurement unit is analyzed to determine the center of gravity of each component of the two- A center of gravity calculation unit for calculating a center of gravity of each component and outputting a coupling control signal for coupling the respective components based on the calculated center of gravity of each component; And
Mounting the respective components on the pressure plate in the axial direction of the azimuth axes under the control of the center of gravity calculating unit and mounting the components mounted on the pressure plate in the elevation axis direction in response to the direction switching signal, A drive coupling unit coupling the components in response to the coupling control signal; Axis gimbal driving device. The apparatus of claim 1, wherein the plurality of load cells
Axis gimbal driving apparatus according to any one of claims 1 to 4, wherein the center of gravity of the pressure plate is disposed at a position symmetrical to the center of gravity of the quadrant. 3. The apparatus according to claim 2, wherein the center-of-
(X ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₃ , y ₃ ), and (x ₃ , y ₃ ) of the XY coordinate system having the centers of the pressure plates as the origin, _4, y ₄₎₎ to, and stored in advance, each of the above equation the measured X-axis center of gravity _(CG X) and Y-axis of the target center-of-gravity _(CG Y) mounted on the pressure plate

And Equation

Wherein the two-dimensional center of gravity (X _CG , Y _CG ) of the object to be measured is calculated by calculating the two-dimensional center of gravity (X _CG , Y _CG ) of the object to be measured. 4. The apparatus of claim 3, wherein the center-of-
Wherein the nonlinearity and hysteresis characteristics of the plurality of load cell sensors are measured and stored in advance and the center of gravity is calculated by reflecting the characteristic when calculating the center of gravity of the measured object. The center of gravity measurement assembly of the device. 5. The apparatus of claim 4, wherein the center-of-
Wherein when the center of gravity in the azimuth axis direction of the measured object is obtained, the drive coupling unit is controlled to rotate the measured object relative to the Y-axis of the XY coordinate system and to mount on the pressure plate, the two-dimensional center of gravity (Y _CG, Z _CG) calculation, and calculating a second two-dimensional center of gravity _{((X CG, Y CG)} , (Y CG, Z CG)) from the three-dimensional weight of the to-be-measured target center (X _CG , Y _CG , Z _CG ) of the two-axis gimbals driving apparatus. 6. The apparatus according to claim 5,
Wherein when the direction switching signal is applied from the center-of-gravity calculation unit, the angular axis of the measured object is horizontally mounted to the pressure plate, Is mounted on the center of the pressure plate so as to be positioned at the center of the pressure plate. The apparatus of claim 1, wherein the center-of-gravity control unit
In response to the coupling control signal, one component of two components to be combined among the components of the two-axis driving device is mounted so that the center of gravity is placed on the Z-axis of the pressure plate, and the other component Wherein the center of gravity of the element is positioned on the Z axis of the pressure plate and then the two components are engaged. 8. The apparatus of claim 7, wherein the center-of-
Calculating a center of gravity of the combined component so as to determine that a coupling error has occurred if the center of gravity of the combined component is not located on the Z axis of the pressure plate, And the coupling state is adjusted so that the center of gravity of the component is located on the Z axis.

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