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 3-PRR micro-displacement platform based on a symmetrical variable cross-section compliant mechanism, wherein three micro-displacement driving devices are all mounted on a fixed platform; three branch chains connecting a movable platform with the fixed platform are arranged evenly; and in each branch chain, a lever amplification mechanism is connected with the fixed platform through a flexible hinge and a symmetrical trapezoidal compliant mechanism is connected with the lever amplification mechanism through the flexible hinge. One end of the symmetrical folding leaf spring type compliant mechanism is connected with the lever amplification mechanism through the flexible hinge, while the other of the symmetrical folding leaf spring type compliant mechanism is connected with a rigid connecting rod through the flexible hinge; the rigid connecting rod is connected with the movable platform through the flexible hinge; and the movable platform is capable of realizing planar three-freedom degree micro-motion. The symmetrical trapezoidal compliant mechanism of the 3-PRR micro-displacement platform is capable of avoiding incomplete contact of the driving devices when the elastic resistance is as low as possible; as a result, the motion accuracy is improved; and due to the amplification function of the lever amplification mechanism of the 3-PRR micro-displacement platform and the low resistance feature of the symmetrical folding leaf spring type compliant mechanism, large stroke output of the micro-displacement platform can be realized.

The invention discloses a monolithic integrated optical accelerometer. The monolithic integrated optical accelerometer comprises a wide spectrum light source, an acceleration sensitive unit, a photoelectric detector, a substrate, a refrigeration sheet and a packaging shell. The acceleration sensitive unit integrates a mode spot converter, a 1:2 type Y waveguide, a 2:1 type Y waveguide modulator and a metal electrode; the light of the wide spectrum light source is coupled into the 1:2 type Y waveguide through the mode spot converter to realize 3dB light splitting, two beams of light enter the 2:1 type Y waveguide modulator after passing through the upper branch and the lower branch of the 1:2 type Y waveguide, and finally are directly coupled into the photoelectric detector. The optical accelerometer adopts a Mach-Zehnder interferometer structure, detects the phase difference of two interference arms caused by external acceleration, is not influenced by light intensity fluctuation of alight source, has high detection precision, is integrated on the same substrate by a single chip, has high integration level, small volume and simple manufacturing process, and has high reliability and environmental adaptability.

The invention relates to a method for leading out the direction of a turning spindle axis of a high-precision swing bench. The method comprises the following steps of: (1) installing and adjusting a special direction leading-out device; and (2) aligning the direction of tested equipment with the axis of the high-precision swing bench. The method for leading out the direction of the turning spindle axis of the high-precision swing bench has a reasonable design and high practicability. In the method, a direction calibration device is designed and the aim of aligning the coordinate system of the tested equipment with the coordinate system of the high-precision swing bench is fulfilled by an indirect method, so that the swing test can be performed smoothly and the output error is reduced.

The invention discloses a large-angle high-resolution tactile sensing device and method based on bionic compound eyes. The tactile sensing device includes a curved optical waveguide plate, a compound eye array, a mask, an optical fiber light cone, an LED light source array, and an LED light source fixed plate array. , LED light source fixed bracket array, detector and base; the detector and LED light source fixed bracket array are installed on the upper surface of the base, the detector is coupled with the end of the optical fiber light cone, the curved optical waveguide plate and the compound eye array are on the same ball The center is installed above the top 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; the mask is filled between the sub-eyes of the compound eye array, and the top of the LED light source fixing bracket array is installed with an LED The light source fixing plate array, the LED light source array is placed on the LED light source fixing plate array. The angular interval between each LED light source in the LED light source array is 6°.

The application provides a six-dimensional force sensor, including: a housing, a base, and a sensor body, the sensor body includes a moving platform, a support body, and multiple sets of stress rods; the multiple sets of stress rods are in pairs, each The group of stress rods includes a first stress rod and a second stress rod, and the plane where the first stress rod and the second stress rod are located can be enclosed to form a regular polyhedron structure; the first stress rod and the second stress rod The second stress rods are arranged on the outer side of the support body in a circular array; the first stress rods and the second stress rods are arranged between the support body and the moving platform, and the The first stress rod and the second stress rod are arranged at a certain angle with each other. The new layout method of circumferential rotational symmetry of multiple sets of stress rod groups proposed by this application reduces the coupling error caused by the structure of the sensor in the process of force / torque measurement and perception, thereby improving the stability and accuracy of measurement.

The invention discloses a two-degree-of-freedom scott-russell flexible micro-nano positioning platform. The invention adopts piezoelectric ceramics with high natural frequency as the driving element, and at the same time, in order to maintain good decoupling performance when realizing a large output displacement, A bridge-type amplifying mechanism with a large amplification ratio and good decoupling is used as the primary displacement amplifying mechanism. The present invention introduces the scott-russell mechanism as the secondary displacement amplification mechanism, adopts the scott-russell mechanism as the displacement amplification mechanism, and has the characteristics of superior motion decoupling performance and good guiding performance; the present invention introduces cross-shaped decoupling structures evenly distributed in the center of the movement Around the platform, the stiffness of the cross-shaped decoupling structure is small in the target motion direction, and relatively large in the non-target motion direction, which is not only conducive to output displacement, but also has good decoupling performance. Ensure high positioning accuracy.

The invention discloses an optical filter adopting bandwidth compression. The optical filter comprises a light input unit (1-1), a light splitting unit (1-2) and a reflecting unit (1-3), wherein a plurality of channels are formed in the light input unit (1-1), the light splitting unit (1-2) is located between the light input unit (1-1) and the reflecting unit (1-3), and the reflecting unit (1-3) and the channels of the light input unit (1-1) are arranged in an optical coupling manner; the channels of the light input unit (1-1) are distributed in a central symmetric manner and are in cascading connection, each pair of symmetrical channels is located in two-dimensional space and allows light incoming and outgoing for one time, and each outgoing channel is connected with the next incoming channel in sequence until the last pair of channels. With the adoption of the two-dimension central symmetric structure, the coupling error of the channels is reduced to the minimum, insertion loss after repeated cascading connection can be approximately taken as repeated accumulation of central elements, the multiplexing influence of an input end is low, and great compression of a bandwidth index is realized.

The invention discloses an inertial attitude measurement device for a high-speed rotating carrier, which belongs to the technical field of inertial attitude measurement devices. The device includes a gas gyroscope for measuring the angular rate of the roll axis direction and two yaw and pitch direction measurement devices. rate gyroscope. The device can complete the real-time measurement of the roll angle, yaw angle, pitch angle and three-axis angular velocity of the high-speed rotating carrier. The roll angle measurement error of this device only depends on the drift rate of the rolling gas gyroscope, and will not diverge rapidly with time. Accurate measurement of attitude is realized in the high-speed rotation environment of the carrier, and the structure and manufacturing process are simple, low cost, small in size, and the equipment completely relies on its own equipment to work, with good concealment, work is not restricted by weather conditions, and has high reliability.

A quaternion ESPRIT parameter estimation method for a magnetic dipole pair array comprises the following steps: sampling output signals of an electromagnetic vector sensor array to obtain a first set of sampling data, and synchronously sampling output signals after a delay of delta T to obtain a second set of sampling data; constructing a first received quaternion data matrix, a second received quaternion data matrix and full-array received data; calculating the autocorrelation matrix of the full-array received data, and performing quaternion feature decomposition on the autocorrelation matrix to obtain array steering vector estimated values corresponding to the first set of sampling data and the second set of sampling data and an array steering vector matrix estimated value corresponding to the full data; obtaining the estimated value of the signal arrival angle based on the array steering vector estimated value corresponding to the first set of sampling data; and reconstructing an array steering vector estimated value of an electric dipole sub-array and an array steering vector estimated value of a magnetic dipole sub-array in the Z-axis direction, and obtaining estimated values of signal polarization parameters according to the rotational invariance relation between sub-array steering vectors.