Analysis of a gyroscopic force measuring system in three-dimensional space

Abstract This paper concerns the development of an entirely new sensor for measuring forces using a gyroscope (called gyroscopic force measuring system, or simply GFMS) for measuring a force vectorially. In a previous paper [S. Kurosu, M. Adachi, K. Kamimura, Dynamical characteristics of gyroscopic weight measuring device, ASME J. Dynamic System Measurement, and Control 119 (1997) 346–350], the dynamics of the GFMS for measuring a vertical force were investigated and the principal characteristics were examined theoretically and experimentally. The results of this work are directly applicable to measurement of a vectorial force in three-dimensional space. The principle and the dynamical characteristics of the GFMS for measuring a force vector are analyzed theoretically. To measure a force vectorially, two auxiliary turntables (driven by servomechanisms) are installed around the gyroscope, in which turntable outputs are required to follow some angles of incidence of a force vector. Some unfavorable errors caused by various factors and disturbances are analyzed. Two types of compensation methods are proposed as a device both for accurate force measurement and disturbance suppression. The feasibility of the proposed GFMS is confirmed by numerical simulations.