并联式六维加速度感知机构的操作性能研究进展  

Research process on operation performances of parallel type six-axis acceleration sensing mechanisms

作　　者：尤晶晶[1] 史浩飞 张显著 YOU Jingjing;SHI Haofei;ZHANG Xianzhu(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037

出　　处：《光学精密工程》2023年第19期2867-2883,共17页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.51405237);江苏省研究生科研与实践创新计划项目(No.KYCX22_1052)。

摘　　要：六维加速度感知在机器人、航空航天、超精密加工等领域均具有迫切的应用需求,已成为高端装备向“超精尖”发展的一项核心技术。并联式六维加速度传感器具有结构紧凑、动力学解耦精度高等突出优势,其测量性能与感知机构的操作性能有关。从工作机理的角度,阐述了并联式六维加速度感知机构与并联机器人、并联式六维力感知机构之间的差异。从数学和力学的角度,系统阐释了并联式六维加速度感知机构的静刚度、奇异性、基频共振和故障修复四项操作性能的表征和优化方法,并剖析了现有方法尚不具备自适应性的原因。接着,阐明六维加速度标定平台的必要性和基本要求,并分析了四种原理方案的优缺点。最后,指出挖掘感知机构“性能-结构-激励”三者之间的内在联系,并突破几何/拓扑结构的重构、标定平台的设计和优化这些关键问题,有助于充分发挥并联式六维加速度感知机构的性能优势。Six-axis acceleration sensing has urgent application demands in the fields of robotics,aerospace,and ultra-precision machining,having become the core technology in the development of cuttingedge high-end equipment.Parallel-type six-axis accelerometers offer the salient advantages of compact structures and high decoupling precisions,and their measurement performance relates to the operation performance of sensing mechanisms.First,from the perspective of working mechanisms,this paper clarifies five differences between parallel-type six-axis acceleration sensing mechanisms,parallel robots,and parallel-type six-axis force sensing mechanisms.From mathematical and mechanical perspectives,it then systematically describes the characterization and optimization methods for operation performance factors,including static stiffness,singularity,fundamental resonance,and fault restoration,and analyzes reasons for the non-adaptive nature of existing methods.Subsequently,the necessity and basic requirements of six-dimensional acceleration calibration platforms are elucidated,and the advantages and disadvantages of four principle schemes are analyzed.Finally,it is concluded that to fully leverage the performance advantages of parallel-type six-axis acceleration sensing mechanisms,it is necessary to further address key technical problems by exploring internal performance relationships,structures,and excitations;reconfiguring geometric and topological structures;and designing and optimizing calibration platforms.

关 键 词：六维加速度传感器 并联机构 静刚度 奇异性 基频共振 故障修复 

分 类 号：TH825[机械工程—仪器科学与技术]