45results about How to "Reduce coupling error" patented technology

The invention discloses a six-dimensional force and torque sensor for measuring large force and small torque of a large mechanical arm. The six-dimensional force and torque sensor comprises a center shaft, a force sensitive element, a base and a strain gage component, wherein the force sensitive element is fixedly connected to the base; the center shaft penetrates through the force sensitive element and the base; the center shaft is in interference fit with the force sensitive element; the strain gage component is attached to the force sensitive element; the force sensitive element comprises four elastic main beams, four elastic auxiliary beams, a regularly octagonal center shaft platform, four fixing platforms, four main floating beams and four auxiliary floating beams; the strain gage component comprises a first strain gage group and a second strain gage group; two opposite elastic main beams in the four elastic main beams are respectively coated with the first strain gage group, and the other two elastic main beams are respectively coated with the second strain gage group; and the center shaft is in interference fit with a through hole of the center shaft platform. The six-dimensional force and torque sensor can improve the rigidity of measuring the force, and can also slightly improve the rigidity of measuring torque.

The invention discloses a lever-amplification-principle-based dual-shaft full-decoupling silicone micro-resonator type accelerometer comprising an upper layer and a lower layer. A mechanical structure of a silicone micro accelerometer is arranged at the upper layer and a glass substrate laid with a signal lead is arranged at the lower layer. The mechanical structure is formed by a sensing mass, a common anchor point, lever amplifier mechanisms, decoupling beams, and resonators; one end of one decoupling beam is connected with the sensing mass and the other end is connected with the common anchor point by the lever amplifier mechanisms; and the inertia force applied to the sensing mass is magnified by the lever amplifier mechanisms and then is transmitted to the resonators. The resonators consist of resonance beams, comb racks, movable combs, fixed drive combs, fixed drive feedback combs, and fixed anchor points. According to the silicone micro-resonator type accelerometer, accelerated speed detection at two directions in a plane can be realized; and the frequency is used as an output. The accelerometer has advantages of small size, high integration degree, small coupling error, high sensitivity, and excellent anti-interference capability and the like.

Provided is a quaternion ESPRIT parameter estimation method of a sparse circular sound vector sensor array. The array receives K far-field narrowband sound signals of different frequencies and independent from one another, according to each of two groups of complex-domain data received by the array, the same sound pressure of sampling data of the array is overlapped with vibration speed data in three directions vertical to one another to form quaternion linear sampling data; characteristic decomposition and related operation are carried out on an autocorrelation matrix of full-array reception data to obtain estimated values of array guiding vectors; the estimated values of the array guiding vectors are used to reconstruct subarray guiding vectors, and the rotation-invariant relation among the subarray guiding vectors is used to obtain a roughly estimated value of the cosine in the signal direction; and the roughly estimated value of the cosine in the signal direction is used to determine a phase period fuzzy number of a spatial domain guiding vector, and a least square method is used to obtain an accurate estimated value of the arrival angle of the signal. According to the invention, orthogonal feature among components of the sound vector sensors is maintained, error robustness of a model is higher, and the problem of phase fuzziness of the sparse vector sensor circular array is solved.

The invention discloses an inertial attitude measurement apparatus for a high-speed rotating carrier, and belongs to the technical field of an inertial attitude measurement apparatus. The apparatus includes a gas gyroscope used for measuring the angular rate in a rolling axis direction and two rate gyroscopes used for measurement in yawing and pitching directions. The apparatus can measure the roll angle, yaw angle and pitch angle and triaxial angular velocity of a high-speed rotating carrier in real time. The roll angle measurement error of the apparatus only depends on the drift rate of theroll gas gyroscope and isn't fast diverged with time. The attitude is accurately measured when the carrier rotates at a high speed. The apparatus is simple in structure and manufacture process, low incost, small in size, and good in crypticity and reliability. The apparatus works, depending on the devices of itself and can work without limitation by meteorological conditions.

The invention discloses a high-bandwidth two-freedom-degree parallel flexible precision positioning platform. The high-bandwidth two-freedom-degree parallel flexible precision positioning platform comprises a fixed machine frame, four sets of flexible units, a terminal end moving platform, two piezoelectric stacking driving devices, two high-bandwidth capacitance sensors, and two sets of improvedwedge-type pre-tightening devices, wherein a central hollow part and two offset hollow parts are arranged on the fixed machine frame; the four sets of flexible units are connected to and arranged on the inner wall of the central hollow part in a pair opposite manner and in a crossed symmetrical mode; the terminal end moving platform is located at the center of the central hollow part and connectedwith the flexible hinge end of each flexible unit to provide the loading condition for the platform; the two piezoelectric stacking driving devices are respectively arranged in the two offset hollowparts, and the front ends of the two piezoelectric stacking driving devices act on the back end of the corresponding flexible units to provide the high-frequency driving force for the terminal end moving platform; the high-bandwidth capacitance sensors are used for obtaining the displacement information of the terminal end moving platform in the X and Y directions; and the two sets of improved wedge-type pre-tightening devices are fixed on the fixed machine frame and used for pre-tightening the two piezoelectric stacking driving devices. The high-bandwidth two-freedom-degree parallel flexibleprecision positioning platform has the characteristics of being high in bandwidth, high in precision and low in coupling, and the problem of the slow response and the poor coupling performance of thepositioning platform at the present can be solved.

The invention discloses a six-degrees-of-freedom parallel mechanism modal space control method suitable for parallel computing. The problem of modal decoupling matrix solving of a parallel mechanism in global motion is converted into the problem of zero values of a nonlinear system of equations; on the basis, a modal frequency and characteristic value iterative numerical algorithm is constructed based on the Newton iterative algorithm; and the iterative algorithm is high in convergence rate, few in iterative time and suitable for multi-core processor parallel computing. A global modal space controller constructed by adopting the iterative algorithm not only solves a modal transition problem in large overall motion of the six-degrees-of-freedom parallel mechanism but also improves computational efficiency of the controller greatly.

The invention discloses a visual axis stabilizing method for a servo stabilizing system of mobile laser communication equipment, and the method is characterized in that the method comprises the following steps: 1) installing, correcting and optimizing a gyroscope; 2) executing a CCD centroid algorithm optimization process; 3) executing a same-direction small value rapid convergence process. According to the method, the visual axis of the system can be stabilized, the linearity of the system can be improved, the coupling error between all shaft systems of the system can be reduced, and the disturbance resistance and the tracking precision of the system can be enhanced.

The invention discloses a large-angle high-resolution touch sensing device and method based on bionic compound eyes. The touch sensing device comprises a curved surface light waveguide plate, a compound eye array, masks, an optical fiber light cone, an LED light source array, an LED light source fixing plate array, an LED light source fixing support array, a detector and a base, wherein the detector and the LED light source fixing support array are installed on the upper surface of the base, the detector is coupled with the tail end of the optical fiber light cone, the curved surface light waveguide plate and the compound eye array are concentrically installed above the top end of the optical fiber light cone, and the center of the sphere and the center of the detector are located on the same vertical line; and the positions between all sub-eyes of the compound eye array are filled with the masks, the LED light source fixing plate array is installed at the top of the LED light source fixing support array, and the LED light source array is placed on the LED light source fixing plate array. The angle interval between LED light sources in the LED light source array is 6 degrees.

The invention relates to a three-axis gyroscope, in particular to a singlechip three-axis MEMS gyroscope based on a wheel-ring mode. The problem that an existing three-axis gyroscope is low in measurement precision and high in production cost is solved. The singlechip three-axis MEMS gyroscope based on the wheel-ring mode comprises a glass substrate, a driving structure, an x-axis sensitive structure, a y-axis sensitive structure and a z-axis sensitive structure; the driving structure comprises a cylindrical central anchor body, a ring-shaped driving mass block, four straight elastic supporting cantilevers, eight movable driving comb teeth and eight pairs of fixed driving comb teeth; the x-axis sensitive structure comprises a first ring-shaped sensitive mass block, two first triangular elastic supporting cantilevers and two first arc-shaped electrodes; and the y-axis sensitive structure comprises a second ring-shaped sensitive mass block, two second triangular elastic supporting cantilevers and two second arc-shaped electrodes. The singlechip three-axis MEMS gyroscope based on the wheel-ring mode is suitable for the high-grade fields of military navigation and deep space exploration.

The invention discloses a three-dimensional force measurement platform capable of laterally sliding. The three-dimensional force measurement platform is characterized in that an airplane wheel touch side sliding mechanism is arranged on the three-dimensional force measurement platform, a first X-direction force sensor assembly, a second X-direction force sensor assembly, a first Y-direction forcesensor assembly, a second Y-direction force sensor assembly, a first Z-direction force sensor assembly, a second Z-direction force sensor assembly and a third Z-direction force sensor assembly are arranged on the three-dimensional force measurement platform, acting force lines of the first X-direction force sensor assembly and the second Z-direction force sensor assembly intersect at a point, acting force lines of the first Y-direction force sensor assembly and the first Z-direction force sensor assembly intersect at a point, acting force lines of the second X-direction force sensor assembly,the second Y-direction force sensor assembly and the third Z-direction force sensor assembly intersect at a point, a sliding plat is arranged on the airplane wheel touch side sliding mechanism by a planer needle bearing, a tension spring is arranged at a front end of the sliding plate, and Y-direction freedom degree of the sliding plate is open. The coupling error during real-time measurement andanalysis on a three-dimensional dynamic load under the same time domain is small, the measurement accuracy is high, and the three-dimensional force measurement platform can be used for various types of airplanes and unmanned aerial machines.

The invention relates to a three-axis gyroscope, in particular to a monolithic integrated z-axis redundant three-axis gyroscope structure array, and aims to solve the problems of low measuring accuracy and high production cost of the existing three-axis gyroscope. The monolithic integrated z-axis redundant three-axis gyroscope structure array comprises a glass substrate, a first square framework,a first driving module, an x-axis detection module, a first z-axis detection module, a first driving detection module, a second square framework, a second driving module, a y-axis detection module, asecond z-axis detection module and a second driving detection module, wherein the first driving module comprises a left longitudinal stripped movable driving polar plate, a right longitudinal strippedmovable driving polar plate, two left anchor blocks, two right anchor blocks, two left square wave elastic support suspension beams, two right square wave elastic support suspension beams, eight pairs of left fixed driving polar plates, eight pairs of right fixed driving polar plate, a left elastic decoupling suspension beam and a right elastic decoupling suspension beam. The monolithic integrated z-axis redundant three-axis gyroscope structure array is suitable for the high-grade, high-precision, advanced fields of military navigation, deep space exploration and the like.

The invention discloses a multi-component force combination calibration device loading mechanism based on an electric cylinder, and belongs to the technical field of large mechanical measurement instruments and equipment. The mechanism comprises a lower bottom plate, a chain wheel and chain system, a driving motor, a ball screw, a stand column, a mobile platform, a hydraulic expansion sleeve, a Yloading beam, an X+ loading beam, an X- loading beam, a Y loading cylinder, an X- loading cylinder, an X+ auxiliary Y- loading cylinder, an X+ loading cylinder, an X+ auxiliary Y+ loading cylinder, anupper top plate, a Z loading cylinder, a Z auxiliary Y loading cylinder and a Z auxiliary X loading cylinder. When a tested sensor is calibrated, the sensor is fixed on the mobile platform, and the mobile platform moves up and down to adjust the Z-direction position of the sensor. According to the invention, the defects of amulti-component force calibration device loading system can be overcome,the tested sensor is continuously loaded and calibrated, the pulling direction of the tested sensor is calibrated, all components of the tested sensor are tested independently and in a combined manner, the requirement on the number of loading cylinders is lower, and the advantages of high control precision, low cost, small installation space and the like are achieved.

The invention discloses a high-accuracy Z-direction single-freedom-degree micro-positioning platform based on a multi-stage helical structure hinge. The platform comprises a multi-stage helical structure hinge supporting ring, a base and a piezoelectric ceramic actuator. The multi-stage helical structure hinge supporting ring comprises an outer ring located at the periphery, a terminal platform located in the center, and a multi-stage helical structure hinge located between the outer ring and the terminal platform. The outer ring is fixedly connected to the base. The piezoelectric ceramic actuator is fixedly connected to the interior of the base. The center of the bottom of the terminal platform makes contact with the top end of the piezoelectric ceramic actuator. The piezoelectric ceramicactuator generates Z-direction displacement to drive the terminal platform to generate Z-direction displacement. By adopting the multi-stage helical structure hinge comprising the helical hinge and the round rings in a multi-stage stacking manner, the high-accuracy Z-direction single-freedom-degree micro-positioning platform based on the multi-stage helical structure hinge has the characteristicsof being high in motion accuracy, small in coupling error and compact in structure, and it is be achieved that the terminal platform can move and be located with high accuracy in the Z direction.

The invention discloses a two-dimensional piezoelectric positioning table with a large stroke and a large effective stroke area ratio, and belongs to the technical field of piezoelectric driving. The two-dimensional piezoelectric positioning table comprises a bottom plate, a piezoelectric positioning table, a loading platform and a pre-tightening mechanism; the pre-tightening mechanism comprises a first pre-tightening mechanism and a second pre-tightening mechanism which are respectively arranged on the bottom plate on the corresponding side edges of the piezoelectric positioning tables of the two displacement amplification mechanisms; the piezoelectric positioning table comprises a carrying platform frame, a first displacement amplification mechanism, a first decoupling mechanism, a second displacement amplification mechanism and a second decoupling mechanism; and the first displacement amplification mechanism and the first decoupling mechanism form a group to realize the displacement output of the piezoelectric positioning table in the Y direction, and the second displacement amplification mechanism and the second decoupling mechanism form a group to realize the displacement output of the piezoelectric positioning table in the X direction. Through the structural design of the two displacement amplification mechanisms, the overall amplification ratio reaches 14.4; and by adjusting mechanical mechanism parameters of the two decoupling mechanisms, the coupling error of the piezoelectric positioning table in the X direction and the Y direction is reduced to 0.35%.