KR20170035224A - Backlash and stiffness measuring apparatus in an actuator - Google Patents

Backlash and stiffness measuring apparatus in an actuator Download PDF

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Publication number
KR20170035224A
KR20170035224A KR1020150134055A KR20150134055A KR20170035224A KR 20170035224 A KR20170035224 A KR 20170035224A KR 1020150134055 A KR1020150134055 A KR 1020150134055A KR 20150134055 A KR20150134055 A KR 20150134055A KR 20170035224 A KR20170035224 A KR 20170035224A
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actuator
load
pressure
displacement
unit
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KR1020150134055A
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Korean (ko)
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KR101724329B1 (en
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랑성민
박희승
이경호
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국방과학연구소
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0038—Force sensors associated with force applying means applying a pushing force
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/02—Gearings; Transmission mechanisms
    • G01M13/027—Test-benches with force-applying means, e.g. loading of drive shafts along several directions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0014—Type of force applied
    • G01N2203/0016—Tensile or compressive
    • G01N2203/0019—Compressive
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0058—Kind of property studied
    • G01N2203/0069—Fatigue, creep, strain-stress relations or elastic constants
    • G01N2203/0075—Strain-stress relations or elastic constants

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  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)

Abstract

The present invention provides a hydraulic pressure generating apparatus including a hydraulic pressure generating unit for generating a continuous load, the hydraulic pressure generating unit including: a hydraulic cylinder capable of receiving a fluid and extending to one side; A hydraulic piston located inside the hydraulic cylinder and forming a space separated from each other; And a measuring unit for measuring a continuous load applied to the actuator by the pressure applying unit and a displacement generated by the actuator, wherein the pressure applying unit applies a pressure to each of the space parts to generate a continuous load, And the backlash and rigidity of the actuator are measured.

Description

BACKLASH AND STIFFNESS MEASURING APPARATUS IN AN ACTUATOR BACKGROUND OF THE INVENTION [0001]

 The present invention relates to an apparatus for measuring backlash and rigidity of an actuator.

An electric actuator is a device that generates a large driving force by using a speed reducing mechanism such as a gear, a ball screw, and a link to an electric motor rotating at a high speed. BACKGROUND OF THE INVENTION BACKGROUND OF THE INVENTION In electrical actuators, backlash and mechanical stiffness caused by inter-gear or clearance between fastening elements has a significant impact on the accuracy and responsiveness of a system that requires precise position control.

Conventionally, the mechanical stiffness and the backlash of the actuator were measured by measuring the displacement of the actuator while fixing the motor shaft and applying a constant external force using a weight, a torque wrench, or the like. Such a measurement method requires backlash and stiffness by post-processing the discretized load-displacement data, which requires a lot of measurement data in order to obtain accurate data. A conventional apparatus for measuring the backlash and mechanical stiffness of an actuator by continuously measuring a load and a displacement applied to an actuator and automatically post-processing the measured data has been disclosed. However, A number of links and gears are included to cause a backlash caused by the clearance between the gears or the fastening elements in the measuring apparatus itself, thereby causing a measurement error.

The present invention is to propose an apparatus for minimizing backlash of the measuring apparatus itself and more accurately measuring the backlash and rigidity of the actuator.

The present invention proposes a device for extracting backlash and stiffness of an actuator by continuously varying the load applied to the actuator and showing the relationship between the displacement and the load of the actuator.

In order to achieve the object of the present invention, an apparatus for measuring a backlash and a rigidity of an actuator according to an embodiment of the present invention includes a hydraulic pressure generating unit for generating a continuous load, A hydraulic cylinder extending to one side; A hydraulic piston located inside the hydraulic cylinder and forming a space separated from each other; And a measuring unit for measuring a continuous load applied to the actuator by the pressure applying unit and a displacement generated by the actuator, wherein the pressure applying unit applies a pressure to each space to generate a continuous load.

According to an embodiment of the present invention, the hydraulic piston moves along the axis of the hydraulic cylinder and transfers a load generated in the pressure applying unit to the actuator.

 According to another embodiment of the present invention, the pressure applying unit may include a first pressure applying unit positioned in the divided space and providing a compressive force to the actuator when applying pressure; And a second pressure application part located in the space part and providing a tensile force to the actuator when applying pressure.

According to another embodiment of the present invention, the measurement unit includes a displacement sensing unit positioned in connection with one side of the hydraulic pressure generating unit and measuring a displacement of the actuator generated by the transmitted load, And a load cell connected to one side of the actuator and measuring a load transmitted to the actuator.

According to another aspect of the present invention, there is further provided a data extracting unit for receiving a measured load and displacement information, visually indicating a relationship between the load and the displacement, and extracting backlash and stiffness.

At this time, the data extracting unit can extract the backlash from the section in a section where the instantaneous slope of the load and displacement relation changes by a predetermined value or more.

Further, the data extracting section can obtain the stiffness by the slope of the load and the displacement relation.

According to still another aspect of the present invention, there is further provided a connection portion which is interposed between one side of the hydraulic piston and the actuator to transmit a load to the actuator.

According to the present invention, since the backlash and rigidity measuring device of the actuator applies the load through the hydraulic pressure generating part, the problem of the conventional measuring device can be solved. That is, since the backlash of the measuring apparatus itself can be reduced by using the hydraulic pressure generating unit, the error in measuring the backlash of the actuator can be remarkably reduced.

In addition, according to the present invention, backlash and rigidity can be extracted through the load-displacement relationship while continuously changing the load applied to the actuator.

1 is a conceptual view showing a backlash and rigidity measuring device of an actuator according to the present invention.
2 is a conceptual view showing an operation process of the hydraulic pressure generating unit;
3 is a conceptual diagram showing a state when a pressure is applied to the first pressure applying unit of the present invention.
4 is a conceptual diagram showing a state when a pressure is applied to the second pressure applying unit of the present invention.
5 is a conceptual view showing a state in which a rigid body is coupled in place of an actuator to obtain backlash and rigidity of the measuring apparatus itself.
6 is a schematic diagram illustrating a process of measuring backlash and rigidity of an actuator.
7 is a graph showing a displacement according to a load applied to an actuator.

Hereinafter, the backlash and rigidity measuring apparatus 100 of the actuator according to the present invention will be described in detail with reference to the accompanying drawings.

In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

1 is a conceptual diagram showing an apparatus 100 for measuring backlash and rigidity of an actuator according to the present invention. The backlash and rigidity of the actuator 10 can be measured through the present invention.

An actuator means a device that drives the movement of a mechanical drive. A servo motor, a step motor, a hydraulic motor, a hydraulic cylinder 111, and a pneumatic cylinder are examples of the actuator 10. The actuator 10 includes a gear, a ball screw, a link, and the like as a component so that there is a clearance between the fastening elements. The backlash generated thereby affects the accuracy and response performance of a system requiring precise position control . In addition, the mechanical stiffness of the actuator 10 also affects the accuracy and responsiveness of the system.

A backlash refers to a gap between teeth when a pair of gears is engaged. Proper backlash is required to smoothly rotate a pair of gears. If the backlash is small, the friction between the tooth surfaces becomes large. If the backlash is too large, it is difficult to engage the gears, and the gears are liable to be broken. In the present invention, since the backlash and rigidity of the actuator 10 are measured by using the hydraulic device, the number of gears or fastening elements in the measuring device can be minimized. Therefore, backlash of the measuring apparatus itself can be minimized.

When a material is elastically deformed, the material has a property of resisting the deformation, and the degree of resistance to deformation is called stiffness. Deformation when an external force is applied to the elastic body depends on the shape of the elastic body, the supporting method, and the elastic modulus of the material in addition to the magnitude of the force and the moment. The stiffness of the material is expressed by the value of the external force with respect to the unit change amount. For example, when a tensile force is given, the elongation is proportional to the external force. At this time, the external force giving the unit elongation is called elongation rigidity. When bending the beam, the curvature of the deflection curve of the beam is proportional to the bending moment M, and is inversely proportional to (elastic modulus (E) x second moment of inertia (I)). The curvature is larger as the (E x I) is smaller even if the bending moment M is the same. That is, (E x I) is a coefficient indicating the magnitude of the curvature in the deflection curve, which is called bending stiffness.

The backlash and rigidity measuring apparatus 100 of the actuator of the present invention includes an actuator 10, a hydraulic pressure generating unit 110, a measuring unit 120, a data extracting unit (not shown) and a connecting unit 140.

The hydraulic pressure generating part 110 serves to generate a continuous load and includes a hydraulic cylinder 111, a hydraulic piston 112, and pressure applying parts 113 and 114. When the pressure is applied through the pressure applying portions 113 and 114 connected to the hydraulic cylinder 111, the load is transferred to the actuator 10 through the hydraulic piston 112.

The hydraulic cylinder 111 has a space for accommodating the fluid 117 therein. The hydraulic piston 112 is moved in the direction of the actuator 10 or in the opposite direction and the load is applied to the actuator 10 through the connecting portion 140 . Here, the connection portion 140 is the first connection portion 140a. The load transmitted to the actuator 10 while the hydraulic piston 112 is moved in the direction of the actuator 10 will be a compressive force which is a load pressing the actuator 10 and the hydraulic piston 112 will move in the direction opposite to the actuator 10 The load transmitted to the actuator 10 while being moved becomes a tensile force that pulls the actuator 10. [

The hydraulic cylinder 111 may have a cylindrical shape extending to one side. The hydraulic piston 112 is moved along the inner circumferential surface of the hydraulic cylinder 111 by the fluid 117 contained therein to transmit a load to the actuator 10 . At both ends of the hydraulic cylinder 111, one side is opened so that the hydraulic piston 112 can protrude to the outside. The protruding portion of the hydraulic piston 112 is the hydraulic piston shaft 112b and the hydraulic piston shaft 112b is moved to transfer the load to the actuator 10 through the connecting portion 140. [

The shape of the hydraulic cylinder 111 shown in Figs. 1 to 6 is one example, and the hydraulic cylinder 111 may have various shapes. Further, the material is generally made of metal, but is not limited thereto.

The fluid 117 contained in the hydraulic cylinder 111 must move the hydraulic piston 112 with the pressure received through the pressure applying portions 113 and 114 so that the fluid 117 must be incompressible. Generally, oil or a synthetic oil mixed with the oil is used, but it is not limited thereto.

The hydraulic piston (112) is inserted into the hydraulic cylinder (111) and engaged to enable linear movement. The hydraulic piston 112 is located inside the hydraulic cylinder 111 and serves to separate the inner space of the hydraulic cylinder 111. [ The hydraulic piston 112 is divided into a hydraulic piston shaft 112b and a hydraulic piston head 112a.

The head 112a of the hydraulic piston has a structure partially contacting the inner circumferential surface of the hydraulic cylinder 111 and will have a shape corresponding to the cross section of the hydraulic cylinder 111. [ For example, if the cross section of the hydraulic cylinder 111 is circular, the shape of the shaft 112b of the hydraulic piston may also be circular.

The hydraulic piston shaft 112b serves to transmit a load due to the pressure to the actuator 10 and has a shape of a shaft extending to one side as it passes the center of the hydraulic piston head 112a. The cross section of the hydraulic piston shaft 112b may be circular in shape, but may be other shapes.

The material of the hydraulic piston 112 is generally made of metal, but the material thereof is not limited.

1 and 2, the pressure applying units 113 and 114 included in the hydraulic pressure generating unit 110 are coupled to respective spaces defined by the hydraulic pressure piston 112, And serves to provide pressure inside the cylinder 111. [ The hydraulic piston head 112a is provided with a sealing material (not shown) for preventing the fluid 117 from leaking between the hydraulic piston head 112a and the hydraulic cylinder 111, and the generated load is transmitted through the hydraulic piston 112 To be transmitted to the actuator (10). It is desirable to determine the outer diameter of the hydraulic piston head 112a and the inner diameter of the hydraulic cylinder 111 so as to minimize the friction generated by the sealing material (not shown).

The pressure application units 113 and 114 are divided into a first pressure application unit 113 and a second pressure application unit 114. Each of the pressure applying portions 113 and 114 serves to transmit a continuous load to the actuator 10 by providing pressure to the hydraulic cylinder 111. [ 2, the fluid 117 is supplied into the hydraulic cylinder 111 through the hand pump 119, and the pressure increases in the hydraulic cylinder 111 through the fluid 117. As shown in FIG. At this time, since the fluid 117 can be adjusted through the valve 118, the pressure can be changed through adjustment of the valve 118. The fluid outlet 115 serves to reduce the applied pressure. However, the pressure generation diagram of the hydraulic pressure generator 110 shown in FIG. 2 shows an example of one device for supplying pressure.

FIG. 3 shows a state in which the first pressure applying unit 113 receives the pressure and provides the compressing force to the actuator 10. FIG. 4 shows a state in which the second pressure applying unit 114 receives a pressure and provides a load to the actuator 10, and the load becomes a tensile force. The pressure applying units 113 and 114 are supplied with the pressure through the adjustment of the connected valve 118. The pressure generated by the pressure application units 113 and 114 forms a load to be transmitted to the actuator 10, and the value of the load can be obtained by Equation (1).

Figure pat00001

Here, F denotes a load, P denotes a pressure, and A denotes a cross-sectional area of the hydraulic piston 112 moving along the inner circumferential surface of the hydraulic cylinder 111. That is, the load can be obtained by multiplying the pressure difference of the applied hydraulic pressure by the inner area of the hydraulic piston.

The load transmitted to the actuator 10 is determined by the correlation between the pressures applied to the first pressure applying unit 113 and the second pressure applying unit 114. For example, when the pressure provided by the first pressure applying section 113 is P 1 and the pressure provided by the second pressure applying section 114 is P 2 , the load transmitted to the actuator 10 is (2) " (2) "

Figure pat00002

Figure pat00003

Here, F compression means compressive force, F tension means tensile force, and A means the cross-sectional area of the hydraulic piston 112 moving along the inner circumferential surface of the hydraulic cylinder 111.

The pressure applying units 113 and 114 are coupled to the hydraulic cylinder 111 and have a structure capable of supplying pressure to the inside of the hydraulic cylinder 111. [ The shapes of the pressure applying portions 113 and 114 are not limited, and the pressure may be supplied manually or automatically through electronic equipment. The load value transmitted to the actuator 10 can be adjusted through the pressure adjustment of the pressure applying portions 113 and 114 so that the continuous load value can be provided to the actuator 10. [

That is, the hydraulic pressure generating unit 110 serves to transmit the load generated by the pressure provided by the pressure applying units 113 and 114 to the actuator 10 through the hydraulic piston 112.

The measuring unit 120 serves to measure the continuous load applied to the actuator 10 by the pressure applying units 113 and 114 and the displacement generated by the actuator 10. The measurement unit 120 includes a displacement sensor 121 and a load cell 122.

The displacement sensing unit 121 is connected to one side of the hydraulic pressure generating unit 110 and measures the displacement of the actuator 10 generated by the transmitted load. That is, the displacement sensing unit 121 measures the distance generated by the actuator 10. [ The sensor for displacement measurement of the displacement sensing unit 121 may be a linear potentiometer, an LVDT, or the like.

The load cell 122 is also referred to as a load cell or a load sensor. A converter for measuring the load can be used to extract the output as an electrical signal. The load cell 122 measures a load by converting a displacement or deformation caused by a load (force) into an inductance change, a capacitance change, a resistance change, or the like, which can be output as an electric signal. In general, the load cell 122 is easily miniaturized. In the present invention, the load is measured using the load cell 122, but it is also possible to measure the load using the pressure sensor of the hydraulic piston 112.

The data extracting unit (not shown) receives the measured load and displacement information, visually displays the relationship between the load and the displacement, and extracts backlash and stiffness. The hydraulic pressure generating unit 110 can change the load continuously by changing the pressure and the data extracting unit (not shown) can obtain the relationship between the load transmitted to the actuator 10 and the displacement. The data extracting unit (not shown) can display the relationship between the load-displacement and the load-displacement diagram in real time.

The slope K of the linear approximated line in the load-displacement line represents the mechanical stiffness of the actuator 10, and the distance between points at which the change of the instantaneous slope exceeds a certain reference value represents the backlash δ of the actuator 10. The slope of the linearized line for the area except the backlash is used as auxiliary data of the mechanical stiffness.

The backlash can be extracted through the displacement value of the nonlinear section which is a section where the instantaneous slope of the load change with respect to the measured displacement changes by more than a predetermined value. The displacement caused by the actuator 10 in the case of providing the load to the actuator 10 has a linearly proportional relationship. The nonlinear section is caused by the backlash, and the backlash can be extracted by discriminating it. The backlash of the actuator 10 can be measured by the magnitude? Of the angular displacement in the nonlinear section. Here, the predetermined instantaneous slope is a value that is arbitrarily set and is a value different from a slope having a linear characteristic.

The data extraction unit (not shown) can extract the rigidity through the slope of the load-displacement curve. The mechanical stiffness of the actuator 10 can be obtained through the displacement value of the actuator 10 with respect to the load provided to the actuator 10. The mechanical stiffness of the actuator 10 is determined by the difference between the value calculated under the condition of mounting the actuator 10 and the value calculated under the condition of mounting the rigid rod 20 instead of the actuator 10. This is to exclude the rigidity of the system itself except for the actuator 10. Fig. 5 shows a state in which the rigid bar 20 is mounted instead of the actuator 10. Fig.

That is, the mechanical stiffness of the actuator 10 can be obtained by the following equation (3).

Figure pat00004

Here, Kact means the mechanical stiffness of the actuator 10 to be obtained, K sysytem means the mechanical stiffness of the actuator 10 obtained through measurement, K structure means the rigidity obtained through the rigid rod 20. [

The connection portion 140 includes a first connection port 140a and a second connection port 140b. The first connection port 140a is interposed between the hydraulic piston 112 and the actuator 10 and serves to transfer a load from the hydraulic piston 112 to the actuator 10. [ The first connecting port 140a connects the shaft 112b of the hydraulic piston and the piston 11 of the actuator through a connecting hole fixing screw 141. [ The second connection port 140b is located between the actuator 10 and the load cell 122 and serves to transmit a load acting on the actuator 10. [

The present invention shows an apparatus 100 for measuring the backlash and rigidity of an actuator so that one side of the displacement sensing unit 121 must be fixed to sense the displacement of the correct actuator 10 and the load cell 122 ) Shall also be fixed. In addition, one side of the hydraulic pressure generating unit 110 should be fixed. This can be achieved, but not limited to, through the test stand for actuator mounting.

7 is a schematic diagram showing a process of measuring the backlash and rigidity of the actuator 10. The process of measuring the backlash and rigidity of the actuator 10 will be described with reference to FIG. When a pressure is applied (S110) by the hydraulic pressure generating part 110, a load is generated due to the pressure (S120). When the load is transferred to the actuator 10, the transmitted load is measured using the load cell 122 (S130), and the displacement caused by the actuator 10 according to the load is measured through the displacement sensor 121 S140). The data extracting unit (not shown) receives the load and the displacement information, and the load-displacement curve is displayed on the screen (S210). The data extracting unit (not shown) extracts a nonlinear section through a load-displacement curve (S220) and measures a backlash (S221). Further, the linear section is extracted (S230), and the rigidity is measured through the load according to the displacement (S231). The data extracting unit (not shown) displays the obtained load and backlash on the screen.

8 is a graph showing the displacement according to the load applied to the actuator 10. Fig. Displacement relationship from the measured displacement as the load is applied to the actuator 10. Through the graph, the data extracting unit (not shown) extracts the stiffness from the linear section and the backlash from the non-linear section and displays the result on the screen.

The above-described backlash and rigidity measuring device of the actuator is not limited to the configuration and the method of the embodiments described above, and all or a part of the embodiments may be selectively combined so that various modifications may be made to the embodiments .

10: actuator 20: rigid rod
100: backlash and stiffness measuring system of actuator 110: hydraulic pressure generating unit
111: Hydraulic cylinder 112: Hydraulic piston
120: measuring unit 121: displacement detecting unit
122: load cell 130: data extracting unit
140:

Claims (8)

And a hydraulic pressure generating part for generating a continuous load,
The hydraulic pressure generating unit may include:
A hydraulic cylinder capable of receiving the fluid and formed to extend to one side;
A hydraulic piston located inside the hydraulic cylinder and forming a space separated from each other; And
And a pressure applying unit for applying a pressure to each space to generate a continuous load,
And a measuring unit for measuring a continuous load applied to the actuator by the pressure applying unit and a displacement generated by the actuator. The method according to claim 1,
Wherein the hydraulic piston moves along an axis of the hydraulic cylinder to transmit a load generated in the pressure applying unit to the actuator. The method according to claim 1,
The pressure-
A first pressure applying unit located in the separated space and providing a compressive force to the actuator when applying pressure; And
And a second pressure applying unit located in the space and providing a tensile force to the actuator when pressure is applied. The method according to claim 1,
Wherein the measuring unit comprises:
A displacement sensing unit connected to one side of the hydraulic pressure generating unit and measuring a displacement of the actuator caused by the transmitted load; And
And a load cell connected to one side of the actuator and measuring a load transmitted to the actuator. The method according to claim 1,
Further comprising a data extracting unit for receiving the measured load and displacement information to visually indicate the relationship between the load and the displacement and extracting backlash and stiffness. 6. The method of claim 5,
The data extracting unit extracts,
Wherein the backlash is extracted from the section in a section where the instantaneous slope of the load and the displacement relationship changes by a predetermined value or more. 6. The method of claim 5,
The data extracting unit extracts,
And the stiffness is obtained by the inclination of the load and the displacement relation. The method according to claim 1,
Further comprising a connecting portion interposed between one side of the hydraulic piston and the actuator to transmit a load to the actuator.
KR1020150134055A 2015-09-22 2015-09-22 Backlash and stiffness measuring apparatus in an actuator KR101724329B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102009845B1 (en) * 2018-03-08 2019-08-12 국방과학연구소 Wind-tunnel test device for flow through type vehicle and wind-tunnel test method using thereof
US11543314B2 (en) * 2018-08-23 2023-01-03 Stabilus Gmbh Measurement of operating parameters on actuators

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0666672A (en) * 1992-08-18 1994-03-11 Mitsubishi Heavy Ind Ltd Vibration test machine
JPH11183327A (en) * 1997-12-19 1999-07-09 Honda Motor Co Ltd Test device for ball screw

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0666672A (en) * 1992-08-18 1994-03-11 Mitsubishi Heavy Ind Ltd Vibration test machine
JPH11183327A (en) * 1997-12-19 1999-07-09 Honda Motor Co Ltd Test device for ball screw

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102009845B1 (en) * 2018-03-08 2019-08-12 국방과학연구소 Wind-tunnel test device for flow through type vehicle and wind-tunnel test method using thereof
US11543314B2 (en) * 2018-08-23 2023-01-03 Stabilus Gmbh Measurement of operating parameters on actuators

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