Engineering topics
Publications and source records attributed to Doty, Keith L..
The Kennedy Space Center Robotics Group recently completed development and testing on a novel approach to measure the mass properties of a rigid body. This unique design can measure the payload's weight, mass center location, and moments of inertia about three orthogonal axes. Furthermore, these measurements only require a single torque sensor and a single angular position sensor.
The MPMS mechanism possess two revolute degrees-of-freedom and allows the user to measure the mass, center of gravity, and the inertia tensor of an unknown mass. The dynamics of the Mass Properties Measurement System (MPMS) from the Lagrangian approach to illustrate the dependency of the motion on the unknown parameters.
This report presents and interprets experimental data obtained from the Mass Properties Measurement System (MPMS). Statics measurements yield the center-of-gravity of an unknown mass and dynamics measurements yield its inertia matrix. Observations of the MPMS performance has lead us to specific design criteria and an understanding of MPMS limitations.