Solution for Output Coordination Equations of Several Typical Parallel Six-Dimensional Acceleration Sensing Mechanisms  

几种典型并联式六维加速度感知机构的输出协调方程推导

作　　者：ZHANG Xianzhu YOU Jingjing ZHANG Yuanwei 张显著;尤晶晶;张缘为(南京林业大学机械电子工程学院,南京210037)

机构地区：[1]College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,P.R.China

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2024年第S01期96-102,共7页南京航空航天大学学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(No.51405237)。

摘　　要：Aiming at the problem that it is difficult to generate the dynamic decoupling equation of the parallel six-dimensional acceleration sensing mechanism,two typical parallel six-dimensional acceleration sensing mechanisms are taken as examples.By analyzing the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,a new method for establishing the dynamic equation of the sensing mechanism is proposed.Firstly,based on the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,the expression of the branch rod length is obtained.The inherent constraint relationship between the branches is excavated and the branch coordination closed chain of the“12-6”configuration is constructed.The output coordination equation of the sensing mechanism is successfully derived.Secondly,the dynamic equations of“12-4”and“12-6”configurations are constructed by the Newton-Euler method,and the forward decoupling equations of the two configurations are solved by combining the dynamic equations and the output coordination equations.Finally,the virtual prototype experiment is carried out,and the maximum reference errors of the forward decoupling equations of the two configuration sensing mechanisms are 4.23%and 6.53%,respectively.The results show that the proposed method is effective and feasible,and meets the real-time requirements.针对并联式六维加速度感知机构动力学解耦方程难以建立的问题,以两种典型的并联式六维加速度感知机构为例,通过剖析感知机构质量块上铰链点和基座上铰链点之间的尺度约束关系,提出了一种适用于一类的并联式六维加速度感知机构动力学方程解耦方法。首先,基于感知机构质量块上铰链点和基座上铰链点之间的尺度约束关系得到支链杆长表达式,挖掘出支链之间固有约束关系并构造了“12-6”式构型的支链协调闭链,成功推导出感知机构的输出协调方程;其次,采用Newton-Euler法构建了“12-4”和“12-6”两构型的动力学方程,结合动力学方程以及输出协调方程求解了两构型的正向解耦方程;最后,开展了虚拟样机实验,两种构型感知机构正向解耦方程的最大引用误差分别为4.23%和6.53%。结果表明:本文所提方法的有效性、可行性,且均满足实时性要求。

关 键 词：six-dimensional acceleration sensor parallel mechanism topological configuration coordination equation dynamics 

分 类 号：TN925[电子电信—通信与信息系统]