This simulation is based on the next prototype design we expect to build, test
and evaluate. It has been developed based on a combination of finite element modelling - static
& normal modes modes, augmented with in-house matlab simulations. The non-linear influences have been modelled and evaluated in matlab, against
test results of earlier prototypes.

This 2nd generation simulation includes temperature influence, though still not the algorithm to translate between frequency and load. We knew from earlier testing that
the configuration has minor thermal distortions.
We modelled the thermal effects, upgrading the analysis after making a minor design change to improve thermal conditions.
From a modelling perspective, the thermal errors are non-existent
for 4 of the 6 degrees freedom. The simulation includes the projected errors on the remaining 2 degrees of freedom (the shear directions).

Design Parameter | Maximum | Minimum |

Measureable force | 90 lb | 0.4 lb |

Measureable moment | 250 ft-lb | 0.6 in-lb Nm |

Allowable Drift (10% of measurement) | 8 hours | n/a |

Rotational Stiffness | 25.4e4 lb-in/rad | 27.e3 lb-in/rad |

Surviveable Force | 150 lb | n/a |

Surviveable Moment | 370 ft-lb | n/a |

mass, excluding electronics | 3.5 lb | n/a |

dimensions | diameter: 9 1/8" | height: 2 1/4" |

1st resonance | n/a | 617 Hz |

If you're interested trying out the sim, as part of your control program, you can download the matlab and sample files
fms simulation
, the matlab code. Of course, its still just a design and analysis.

The mass properties are taken as linear, without cabling. The table was taken from
Nastran output file. Mass units are lb

_{f}- sec

^{2}/inch.
RIGID BODY MASS MATRIX AT ORIGIN

9.130E-03 | 0.000E+00 | 0.000E+00 | 0.000E+00 | 7.840E-03 | 7.522E-19 |

0.000E+00 | 9.130E-03 | 0.000E+00 | -7.840E-03 | 0.000E+00 | 1.613E-18 |

0.000E+00 | 0.000E+00 | 9.130E-03 | -7.522E-19 | -1.613E-18 | 0.000E+00 |

0.000E+00 | -7.840E-03 | -7.522E-19 | 6.190E-02 | -3.226E-18 | 5.557E-18 |

7.840E-03 | 0.000E+00 | -1.613E-18 | -3.226E-18 | 6.190E-02 | -1.152E-18 |

7.522E-19 | 1.613E-18 | 0.000E+00 | 5.448E-18 | -5.014E-19 | 9.877E-02 |

#### US Patent No 5,033,314: expired

#### Provisional Patent filed: Jan 20, 2014