用于动态测量的一种新的惯性传感系统  

A New Inertial Sensing System in Dynamic Measurement

作　　者：顾玲[1] 张瑞宏[1] 任海良[1] 陶晔[1] 管荣根[1] 

机构地区：[1]扬州大学机械工程学院,江苏扬州225009

出　　处：《机械设计与研究》2009年第3期83-86,共4页Machine Design And Research

基　　金：国家863计划资助项目(2008AA100904)

摘　　要：针对各种动态测量系统和技术的不足,以及机床工作环境对测量过程的影响,提出一种新的惯性传感系统,用于并联机床各杆件(腿)长度、姿态(位姿)变化的精确测量。系统运用数据融合的方法,对测量中出现的惯性误差作出修正,抑制误差的漂移,并预估系统的位置和速度状态变量。通过对300 mm全程运动的实验测量和对实验结果的分析表明,应用新的系统,能改善并联机床和机器人的动态定位,使位置精度和运动精度得到明显的提高。并随着低成本固态加速度计技术的进一步完善,使测量成本降低的同时,新系统能为并联机床和机器人提供更高的位置与速度的动态测量精度。For the insufficiency of different kinds of dynamic measurements system and the technology, and the effects of working environment of on the machine dynamic measurement, a new inertial sensing system is designed to be applied for the precision measurement of a change in the length and the posture（position） of the rod（leg） on the paral- lel machine. Through the method of the data fusion, the inertial error in the process of measurement is corrected, the drifting of error is restrained and position of the system and the velocity state variables are perdicted. After measuring the whole 300mm movement in experiment, the analyses of the experimental result showed that the application of the low-cost inertial sensing system can improve the dynamic position of the parallel machine and the robot, and accomplish the great improvement in the positional accuracy and the movement precision. With the further improvement of low-cost solid-state aceeleramenter technology, the measuring cost is becoming lower, the new system will provide a higher posi- tion and speed dynamic accuracy for parallel machines and robots.

关 键 词：动态测量 并联机床 机器人 新惯性传感系统 

分 类 号：TG659[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置]