完全各向同性的Stewart型六维加速度感知机构构型综合  

Configuration Synthesis of Fully Isotropic Stewart⁃Type Six⁃Axis Acceleration Sensing Mechanism

作　　者：张显著 尤晶晶[1,2] 姜杰凤 张缘为[1] 李成刚 ZHANG Xianzhu;YOU Jingjing;JIANG Jiefeng;ZHANG Yuanwei;LI Chenggang(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;State Key Laboratory of Mechanical Transmission for Advanced Equipment,Chongqing University,Chongqing 400044,China;School of Engineering,Hangzhou Normal University,Hangzhou 310036,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]重庆大学高端装备机械传动全国重点实验室,重庆400044 [3]杭州师范大学工学院,杭州310036 [4]南京航空航天大学机电学院,南京210016

出　　处：《南京航空航天大学学报》2024年第4期723-730,共8页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(51405237);高端装备机械传动全国重点实验室开放基金(SKLMT-MSKFKT-202330)。

摘　　要：各向同性是六维加速度感知机构的重要性能指标之一,决定了传感器的测量精度。为获得感知机构的完全各向同性,提出了一种新的构型综合方法。首先,运用Newton⁃Euler法并基于支链之间固有的尺度约束关系,构建了Stewart型六维加速度感知机构的正向解耦方程。其次,剖析了感知机构的各向同性与正向解耦方程中输入矩阵条件数的关联,以及支链位姿与输入矩阵的映射关系。创建了完全各向同性感知机构的构型综合步骤。最后,遵循该步骤,综合出“12⁃6”式Stewart型六维加速度感知机构,并开展了虚拟实验。将添加0.100%随机扰动和零扰动这两种情况相比较,结果显示,六维加速度的最大引用误差为0.169%,也即输入、输出误差的放大倍数仅为1.69。这表明,新构型具有优异的各向同性性能。The isotropy is one of the important performance indexes of the six-axis acceleration sensing mechanism,which determines the measurement accuracy of the sensor.In order to obtain the complete isotropy of the sensing mechanism,a new configuration synthesis method is proposed.Firstly,based on the Newton-Euler method and the inherent scale constraint relationship between the branches,the forward decoupling equation of the Stewart-type six-axis acceleration sensing mechanism is constructed.Secondly,the relationship between the isotropy of the sensing mechanism and the condition number of the input matrix in the forward decoupling equation is analyzed,and the mapping relationship between the branch pose and the input matrix is analyzed.Then,the configuration synthesis steps of the fully isotropic sensing mechanism are created.Finally,following this step,a“12-6”Stewart-type six-axis acceleration sensing mechanism is synthesized and a virtual experiment is carried out.The two cases of adding 0.100%random disturbance and zero disturbance are compared,and the results show that the maximum reference error of six-dimensional acceleration is 0.169%,that is,the magnification of the input and output errors is only 1.69.This shows that the new configuration has excellent isotropic properties.

关 键 词：六维加速度传感器 并联机构 构型综合 解耦 各向同性 

分 类 号：TH112[机械工程—机械设计及理论]