南京航空航天大学学报（英文版）2024，Vol.41Issue(z1)：96-102,7.DOI:10.16356/j.1005-1120.2024.S.012
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
Solution for Output Coordination Equations of Several Typical Parallel Six-Dimensional Acceleration Sensing Mechanisms
摘要
Abstract
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.关键词
六维加速度传感器/并联机构/拓扑构型/协调方程/动力学Key words
six-dimensional acceleration sensor/parallel mechanism/topological configuration/coordination equation/dynamics分类
信息技术与安全科学引用本文复制引用
张显著,尤晶晶,张缘为..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[J].南京航空航天大学学报（英文版）,2024,41(z1):96-102,7.基金项目
This work was supported in part by the National Natural Science Foundation of China(No.51405237). （No.51405237）
