摘要
针对六维加速度传感器在工作过程中其弹性体结构可能处于奇异位形的问题,以可重构六维加速度传感器的四种构型为例,分析了构型奇异与基座加速度之间的映射关系。首先,通过建立正向动力学方程和正向运动学方程,构建了基座加速度与质量块相对位姿之间的函数关系。接着,基于Gosselin奇异分析法,推导了弹性体结构的雅可比矩阵,并绘制了奇异曲面散点图。进一步地,分析了质量块的质量与奇异曲面之间的关系。结果表明,12-4、12-6构型可适用较大的加速度范围,而9-3、9-4构型可适用的加速度范围相对较小。研究结论及方法为六维加速度传感器的构型选择及参数优化提供了理论基础。
In order to solve the problem that the elastic structure of six dimensional accelerometer may be in a singular configuration in the working process, taking four configurations of reconfigurable six dimensional accelerometer as examples, the mapping relationship between configuration singularity and base acceleration is analyzed. Firstly, the functional relationship between the acceleration of the base and the relative pose of the mass is constructed by establishing the forward dynamic equation and forward kinematic equation. Then, based on the Gosselin singularity analysis method, the Jacobian matrix of the elastic body structure is derived, and the scatter diagram of the singular surface is drawn. Furthermore, the relationship between the mass of the mass block and the singular surface is analyzed. The results show that the 12-4 and 12-6 configurations can be applied to a larger acceleration range, while the 9-3 and 9-4 configurations can be applied to a smaller acceleration range. The research results and methods provide a theoretical basis for the configuration selection and parameter optimization of six dimensional accelerometer.
作者
陈华鑫
尤晶晶
王林康
史浩飞
叶鹏达
CHEN Huaxin;YOU Jinging;WANG Linkang;SHI Haofei;YE Pengda(Collge of Mechanical and Electronical Enginering,Nanjing Forestry University,Nanjing Jiangsu 210037,China;Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing Jiangsu 210016,China)
出处
《传感技术学报》
CAS
CSCD
北大核心
2021年第12期1571-1578,共8页
Chinese Journal of Sensors and Actuators
基金
国家留学基金项目(201908320035)
国家自然科学基金项目(51405237)
江苏省精密与微细造技术重点实验室开放基金项目。
关键词
并联机构
六维加速度传感器
动力学
运动学
奇异位形
parallel mechanism
six-axis accelerometer
dynamics
kinematics
singular configuration
作者简介
陈华鑫(1997-),男,硕士研究生。研究方向为并联机构学;尤晶晶(1985-),男,博士,副教授,硕士生导师,加拿大Ryerson University访问学者,研究方向为机器人机构学,youjingjing251010@126.com。
