摘要
六维加速度感知机构的灵敏度、静刚度的相关性尚不明确。为此,以5种典型的并联式六维加速度感知机构为例,构建了灵敏度和静刚度的解析模型,为构型综合及性能提升提供了理论指导。首先,建立并求解了系统的动力学及力协调方程,据此推导出灵敏度解析式;其次,运用速度基点法和虚功率原理,推导出机构的雅可比矩阵和静刚度矩阵,确定了静刚度评价指标,并分析了静刚度对参考点的依赖性;最后,对比分析了各构型的灵敏度和静刚度性能。结果表明:“6—6”型的角加速度灵敏度与转动静刚度负相关;“9—3”、“9—4”、“12—4”、“12—6”型的灵敏度与静刚度不相关;结构参数相同时,“12—4”型的综合性能最优;分别以线、角加速度灵敏度和静刚度为主性能时,应优先选取“9—3”、“6—6”和“12—4”型。
The correlation between sensitivity and static stiffness of six-axis acceleration sensing mechanism is not clear.Thus,the analytical models are constructed based on five typical parallel six-axis acceleration sensing mechanisms,providing theoretical guidance for configuration synthesis and performance improvement.Firstly,the dynamic and force coordination equations of the system are established and solved,then analytical formulas of sensitivity are derived according to this.Next,the Jacobian matrix and stiffness matrix of the mechanism are derived based on velocity reference point method and the principle of virtual power,and the evaluation indexes of static stiffness are determined.Furthermore,dependency of stiffness on reference points is analyzed.Finally,the sensitivity and the static stiffness performances of each configuration are compared and analyzed.The result shows that the angular acceleration sensitivity and rotational stiffness of“6—6”type are negatively correlated;but sensitivity and rotational static stiffness are uncorrelated“9—3”,“9—4”,“12—4”,“12—6”;when the structural parameters are the same,“12—4”type comprehensive performance is the best;and if the linear acceleration sensitivity,the angular acceleration sensitivity or the static stiffness is taken as the primary performance,the“9—3”,“6—6”or“12—4”type should be selected as the priority,respectively.
作者
张缘为
尤晶晶
张显著
ZHANG Yuanwei;YOU Jingjing;ZHANG Xianzhu(College of Mechanical and Electrical Engineering,Nanjing Forestry University,Nanjing 210037,China)
出处
《传感器与微系统》
北大核心
2025年第11期47-51,56,共6页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(52575022)
高端装备机械传动全国重点实验室开放基金资助项目(SKLMT-MSKFKT-202330)
江苏省研究生科研与实践创新计划资助项目(KYCX24_1295)。
关键词
六维加速度传感器
并联机构
灵敏度
静刚度
协调方程
雅可比矩阵
six-axis acceleration sensor
parallel mechanism
sensitivity
stiffness
compatibility equation
Jacobian matrix
