Force and torque measurement system

A system for measuring the magnitude and direction of a force applied to a mass, said system comprising, in combination:

• means for mounting the mass so that the mass is suspended in a predetermined position and orientation relative to a three-dimensional coordinate system defining three mutually perpendicular axes;
• force measurement means for measuring the force components of the force applied to the mass along the respective axes;
• counterforce means for providing counter forces on the mass in response to measurements made by said force measurement means so as to maintain the mass in the predetermined position and orientation, said counterforce means including a rotary actuator for causing said mass to rotate along one of said three mutually perpendicular axes and a plurality of linear actuators for causing said mass to move linearly along each of said three mutually perpendicular axes;
• and
• means for determining the magnitude and direction of the force applied to the mass as a function of the measured force components.

A system for measuring the magnitude and direction of forces applied to a mass, the system comprising:

• first means for suspending a mass in a predetermined position and orientation relative to three mutually-perpendicular axes;
• second means for measuring the force components of a force respectively applied to the mass along each of said three mutually-perpendicular axes;
• third means responsive to correction signals, for providing counter forces to the mass so as to maintain said mass suspended in said predetermined position and orientation;
• and
• fourth means, responsive to said second means, for (a) determining the counter forces required to counteract said force components applied to said mass so as to maintain said mass in said predetermined position and orientation, and (b) generating said correction signals as a function of said predetermined counter forces;
• and
• fifth means for calculating (a) the magnitude and direction of the force applied to the mass as a function of said correction signals, (b) the torque associated with the roll of the mass about one of said three axes based on said information in said correction signals, (c) the torque associated with the pitch of the mass about a second of said three axes based on said information in said correction signals;
• and (d) the torque associated with the yaw of the mass about a third of said three axes based on said information in said correction signals.