A Structure for Accurately Determining the Mass and Center of Gravity of Rigid Bodies

Measuring the mass and Center of Gravity (CG) of rigid bodies with a multi-point weighing method is widely used nowadays. Traditional methods usually include two parts with a certain location, i.e., a fixed platform and a mobile platform. In this paper, a novel structure is proposed to adjust the mobile platform for eliminating side forces which may load on the load cells. In addition, closed-form equations are formulated to evaluate the performance of the structure, and transformation matrices are used to estimate the characteristics of the structure. Simulation results demonstrate that repeatability of the proposed structure is higher than the traditional one and there are no side forces. Moreover, the measurement results show that the relative error of mass was within 0.05%, and the error of CG was within +/- 0.3 mm. The structure presented in this paper provides a foundation for practical applications.