Kistler 9327C, Instruction Manual

Page: 20 / 49

3-Component Force Link, Type 9327C
Page 18 9327C_002-477e-05.10
Application Example
The intention is to install a 3-component force link Type
9327C in the wrist of a robotic arm. The force application
point of the process force is known and estimates of the
anticipated forces are available. The 3-component force
link is also loaded with moments due to the eccentric force
application point. The three components of the resulting
moment vector, based on the zero point of the coordinate
system, can be calculated from the estimate of the force.
Force link Type 9327C
Preload force F
v
20 kN
Coefficient of friction

H 0,2
Force application point
see Fig. 10
Coordinates a
x
4 mm
a
y
3 mm
a
z
–25 mm
Process forces
F
x
215 N
F
y
130 N
F
z
2 160 N
Moments M
x
= F
z
· a
y
– F
y
· a
z
= 9,7 N·m
M
y
= F
x
· a
z
– F
z
· a
x
= –14 N·m
M
z
= F
y
· a
x
– F
x
· a
y
= –0,13 N·m
Shear force F
s
=
2
y
2
x
F F

= 0,25 kN
Total force F =
2
z
2
y
2
x
F F F
 
= 1,62 N
F
z
total on sensor F
ztot
= F
v
+ F
z
= 21,6 kN
Ratio F
s
/F
v
+ F
z
v =
z v
s
F F
F

= 0,012
Max. shear force
Fs
max.
=

H · (F
v
+ F
z
) = 4,32 kN
Bending moment M
b
=
2
y
2
x
M M

= 17,1 N·m
Using the following graphics, a check is to be carried out to
ensure that the eccentric loading of the sensor will not
overload the measuring element.
The maximum possible moment loads are dependent on
the preload force of the sensor as well as on the loading of
the resulting force vector.