南京航空航天大学学报（英文版）2025，Vol.42Issue(z1)：141-149,9.DOI:10.16356/j.1005-1120.2025.S.012
六轴加速度感知机构解耦算法
Decoupling Algorithm of Six-Axis Acceleration Sensing Mechanisms
摘要
Abstract
To address the issues of low solving efficiency and poor decoupling accuracy in existing six-axis acceleration decoupling algorithms,a new decoupling algorithm is proposed along with a corresponding auto-compensation algorithm.Firstly,based on Kane's method,the dynamics model of the six-axis acceleration sensing mechanism is formed to determine the relationship between accelerations and branch forces.Then,with the trapezoidal rule,a solution algorithm for the dynamics model is developed.The virtual prototype tests show that the computation of this algorithm is five times more efficient than that of the ADAMS core algorithm.Besides,this solution algorithm is applied to the"12-6"configuration and"9-3"configuration.The results show that the efficiency of the former is nearly 3.3 times that of the latter.Finally,based on vibration theory,an auto-compensation algorithm for the solution algorithm is established.Virtual prototype tests indicate that with 40%noise interference,the auto-compensation algorithm achieves misjudgement rate and omission rate of only 4.0%and 4.5%,respectively,and the errors in the solving process converge.关键词
六轴加速度感知机构/凯恩方法/梯形公式/自补偿Key words
six-axis acceleration sensing mechanism/Kane's method/trapezoidal rule/auto-compensation分类
机械制造引用本文复制引用
张缘为,尤晶晶,张显著,史浩飞..六轴加速度感知机构解耦算法[J].南京航空航天大学学报（英文版）,2025,42(z1):141-149,9.基金项目
This work was supported by the Open-ing Project of State Key Laboratory of Mechanical Trans-mission for Advanced Equipment(No.SKLMT-MSKFKT-202330),the National Natural Science Foundation of China(NSFC)(No.52575022),and the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.KYCX24_1295). （No.SKLMT-MSKFKT-202330）
