Center of Gravity Scale 

This center of gravity scale was created to validate robot weight, vertical and horizontal robot center of gravity for manufacturing quality checks. It is constructed using two 24″ x 24″ x 3/8″ steel plates which are ground flat, with a grid of 16 M5 through holes for mounting fixtures, and an additional 16 patterned M5 holes for mounting 4 strain gages on the corners of the plate.  

Each strain gage can support a weight of 150lbs, allowing for a maximum of a 600lbs evenly distributed load. Thes strain gages were wired into wheatstone bridges, which amplify the signal before it is sent into an arduino for processing. The wheatstone bridge outputs an analog signal which can be calibrated against a known weight. 

After calibrating these signals, a relationship between weight and voltage output can be found. Then, through simple algebra (given dimensions of the scale and locations of the sensors) we can find the location of the horizontal center of gravity. 

After calibrating these signals, a relationship between weight and voltage output can be found. Then, through simple algebra (given dimensions of the scale and locations of the sensors) we can find the location of the horizontal center of gravity. 

Vertical center of gravity is found by taking the horizontal center of gravity, and calculating a new center of gravity tilting the scale at a known angle. 

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