并联式六维加速度感知机构动力学模型的失效情况研究  

Several Cases When the Dynamic Equation of the Parallel Six-axis Acceleration Sensing Mechanism Fails

作　　者：张显著 尤晶晶[1] 张缘为 史浩飞 ZHANG Xian-zhu;YOU Jing-jing;ZHANG Yuan-wei;SHI Hao-fei(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing Jiangsu 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：《林业机械与木工设备》2024年第3期10-13,共4页Forestry Machinery & Woodworking Equipment

基　　金：国家自然科学基金(51405237);国家留学基金(201908320035)。

摘　　要：以三种典型的并联式六维加速度感知机构为例,剖析动力学模型失效时的情况,并揭示失效机理。首先,通过计算机构雅可比矩阵的秩,挖掘动力学方程失效的第1种原因——奇异位形。其次,通过分析机构的工作频带,挖掘动力学方程失效的第2种原因——基频共振。然后,通过分析机构支链出现故障时的输入输出关系,挖掘动力学方程失效的第3种原因——支链故障。最后,开展了虚拟样机实验。研究表明,六维加速度感知机构在实际工作时,应避开以上3种情况。The cause of the failure of the dynamic equation of the sensing mechanism is not clear.Taking three typical cases of the loss of the dynamic equation of the sensing mechanism as an example,the mechanism of the failure of the dynamic equation of the mechanism is revealed by analyzing the causes of the failure of the dynamic equation in each case.Firstly,by calculating the rank of the Jacobian matrix of the mechanism,a reason for the failure of the dynamic equation is excavated,and the dynamic equation is successfully deduced when the singularity occurs.Secondly,the working frequency of the mechanism and the fundamental frequency of the mechanism are analyzed.Combined with specific examples,another case of failure of the dynamic equation is obtained.Thirdly,the real-time performance of the dynamic equation when the branch chain of the mechanism fails is analyzed,and the third case of the failure of the dynamic equation is summarized.Finally,the virtual prototype experiment is carried out.The results show that the three reasons for the failure of the dynamic equation proposed in this paper are true and reliable.

关 键 词：六维加速度传感器 并联机构 动力学 雅可比矩阵 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]