Redundant parallel six-dimensional acceleration transducer and measuring method thereof

Abstract

The invention discloses a redundant parallel six-dimensional acceleration transducer. The acceleration transducer comprises a rigid shell, a mass block and nine branch chains, wherein the mass block is arranged in an accommodating cavity of the shell; the nine branch chains consist of three composite elastic spherical hinges, nine ordinary elastic spherical hinges and nine groups of piezoelectricceramics; every three branch chains form a group; one end of each branch chain is connected with one composite elastic spherical hinge, while the other end thereof is connected with one ordinary elastic spherical hinge respectively; the piezoelectric ceramics is connected between the composite elastic spherical hinge and each ordinary elastic spherical hinge; the three composite elastic sphericalhinges are fixed to the centers of different side faces of the mass block and the side faces on which the three composite elastic spherical hinges are fixed are adjacent and vertical to one another; and the ordinary elastic spherical hinges are fixed to the shell. A transducer structure can realize measurement of six-dimensional acceleration of a vibrating body to be tested and has high instantaneity and measurement accuracy. The invention also discloses a method for measuring the six-dimensional acceleration by the redundant parallel six-dimensional acceleration transducer.

Description

technical field [0001] The invention belongs to the field of measurement technology, and relates to a redundant parallel six-dimensional acceleration sensor device and a method for measuring acceleration thereof. The method of six-dimensional acceleration data including linear acceleration and angular acceleration. Background technique [0002] The theory and technology of traditional acceleration sensors have been perfected day by day, and various acceleration sensor products on the market are not uncommon, but basically they focus on single-axis measurement. With the continuous improvement of people's requirements for understanding the objective world and the continuous development of science and technology, it is becoming more and more important to detect multi-dimensional features in the physical environment. The acceleration of object movement is a space vector, for example, the movement of robot fingers, limbs, and joints is all space movement. On the one hand, to ac...

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Problems solved by technology

[0005] The development of the six-dimensional acceleration sensor mainly has two directions. One direction is to use MEMS technology to miniaturize the sensor. This type of sensor is small in size, light in weight and reliable in performance, but its sensitivity and range need to be improved; the other direction is to explore various A new measurement method to realize the detection of six-dimensional acceleration

However, it is rare to design a parallel mechanism as a six-dimensional acceleration sensor, mainly because there is a large difference between acceleration and force, and it cannot be equivalent through simple conversion.

First, the action point of the force sensor is on the moving platform, while the action point of the acceleration sensor is on the static platform of the parallel mechanism, that is, both the dynamic and static platforms are moving. The degree of coupling between them is high; secondly, the frequency range of the acceleration signal is wide, which requires the sensor to have fast response characteristics. However, the kinematics and dynamics of the general parallel mechanism are very time-consuming to solve the forward solution, which limits the response frequency of the acceleration sensor.

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