A method for testing the kinetics of a large compliance substrate

Abstract

The application discloses a kind of kinematics test methods for large flexibility base, it is first according to the motion characteristics of target research base object, determine the number of linear transmission equipment, secondly obtain the mechanical model of target research base and linear transmission equipment control model, and the relevant parameters of target research base mechanics model are used as the control parameter of linear transmission equipment;Again, build test bench, and calibrate sensor and linear transmission equipment in test bench, complete the correction of control parameter;Finally, the kinematics test experiment of bionic mechanism is carried out, and the original force data is processed according to the obtained solving formula, and the mechanical properties of target research base object are obtained.The application not only solves the measurement failure problem of single force sensor facing flexible base, but also realizes the simulation of omnidirectional, different characteristics large flexibility base.

Description

Technical Field

[0001] This invention relates to the field of biomimetic engineering testing technology, and more specifically to a kinematics testing method for highly flexible substrates. Background Technology

[0002] Currently, in the field of biomimetic engineering, the performance verification of biomimetic mechanisms focuses more on solid substrates. However, from the perspective of future practical applications, whether it is a rescue robot, a reconnaissance robot, or a solar panel cleaning robot for the space environment, they all need to face substrate environments with high flexibility.

[0003] When evaluating the motion performance of wall-climbing robots, jumping robots, and other biomimetic mechanisms with biomimetic adhesive properties, the measurement of characteristic forces such as adhesion, deadsorption, take-off force, and landing force is particularly important. Currently, mechanical measurement techniques for high-stiffness structures are quite mature, and the corresponding methods are relatively well-developed. However, force sensors designed for high-stiffness structures typically produce potential signals even without a load when subjected to significant shaking, rendering these testing techniques unsuitable for the kinematic measurement of highly flexible structures.

[0004] Currently, due to limitations in force acquisition technology, research on the mechanical properties of non-rigid, especially highly flexible, structures mainly focuses on pure theoretical analysis and finite element analysis. However, in actual working conditions, the external loads faced by the substrate usually exhibit a certain degree of real-time performance and complexity, making theoretical and numerical methods generally insufficient. Further experimental research is still necessary. Existing sensors, such as piezoelectric thin-film sensors and graphene flexible sensors, designed for flexible structures or surfaces, not only have poor accuracy but also face numerous limitations in their application scenarios, making them unsuitable for mechanical measurements under complex loading conditions.

[0005] Therefore, how to achieve approximate measurement of the kinematic properties of biomimetic mechanisms on a highly flexible substrate is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a kinematics testing method for highly flexible substrates, which solves the problems mentioned in the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A kinematics testing method for highly flexible substrates includes the following steps:

[0009] Step 1: Determine the number of linear transmission devices based on the motion characteristics of the target research substrate.

[0010] Step 2: Obtain the mechanical model of the target research substrate. The mechanical model is determined by the relationship between force and displacement, velocity, and acceleration.

[0011] Step 3: Determine the control model of the linear drive equipment, and use the relevant parameters of the target research base mechanical model as the control parameters of the linear drive equipment;

[0012] Step 4: Complete the design and construction of the experimental platform, and obtain the parameter attributes of the experimental platform;

[0013] Step 5: Calibrate the sensors and linear transmission equipment in the experimental platform and complete the correction of control parameters;

[0014] Step Six: The linear transmission equipment and the force acquisition equipment operate synchronously to complete the kinematics test experiment of the bionic mechanism;

[0015] Step 7: Determine the forces that need to be solved, perform dynamic analysis on the experimental platform, and obtain the solution formula;

[0016] Step 8: Process the original force data according to the obtained solution formula to obtain the mechanical properties of the target research substrate.

[0017] Optionally, step one may also include, after analyzing the motion characteristics of the target research substrate, determining its motion direction and setting up linear transmission devices in the corresponding directions to simulate its motion, while restricting the degrees of freedom of motion in the other directions.

[0018] Optionally, the mechanical model of the target research substrate mentioned in step two is:

[0019]

[0020] Converted to the standard vibration form:

[0021]

[0022] In the formula, The term represents the inertial force in the x-direction. The term represents the inertial force in the y-direction. The term represents the inertial force in the z-direction; related to K and C are the stiffness-damping characteristics; M is the mass of the target substrate under study; C is the damping of the target substrate under study; K is the stiffness of the target substrate under study; and ζ... x To investigate the damping ratio of the base in the x-direction, ζ y To investigate the damping ratio of the base in the y-direction, ζ z The damping ratio in the z-direction of the substrate is studied for the target.

[0023] Optionally, the process of solving for the stiffness K and damping C of the target research substrate is as follows: conduct a vibration characteristic calibration experiment on the target substrate using the free decay method, calculate the natural frequency and damping ratio in each direction, and then calculate the stiffness K and damping C of the target research substrate.

[0024] Optionally, the control model for the linear drive equipment in step three is as follows:

[0025]

[0026] In the formula, F x For the control model of the linear transmission device in the x-direction, F y For the control model of the linear transmission device in the y-direction, F z The control model for the linear transmission device in the z-direction has stiffness and damping parameters that are consistent with the model parameters obtained in step two.

[0027] Optionally, the specific process of designing and building the experimental platform in step four is as follows:

[0028] Based on the analysis results of step one, an experimental platform was designed. The stator of the x-axis linear transmission device was fixedly connected to the top surface of the three-dimensional force sensor; the stator of the y-axis linear transmission device was fixedly connected to the mover of the x-axis linear transmission device; the stator of the z-axis linear transmission device was fixedly connected to the mover of the y-axis linear transmission device; the equivalent base plane was fixedly connected to the mover of the z-axis linear transmission device; and the bottom surface of the three-dimensional force sensor was fixedly connected to the frame via a mounting plate. The experimental platform was then constructed, and the mass M participating in the motion in each direction was obtained. apx-x M apx-y M apx-z .

[0029] Optionally, the specific process for correcting the control parameters is as follows: First, a calibration experiment is performed on the three-dimensional force sensor, and the calibration matrix is ​​input into the force acquisition program. Then, a calibration program for the linear transmission equipment is written to perform a calibration experiment on the linear transmission equipment. The mass involved in the motion in each direction of the experimental platform is corrected, and the inherent damping inside the linear transmission equipment is solved. When correcting the mass parameters, a natural frequency parameter ω is first set in the program. code The calibration program for the linear transmission equipment was run to conduct a free decay vibration test to obtain the natural frequency ω of the actual vibration characteristics. a Then according to the formula

[0030]

[0031] The actual mass parameters M of the experimental platform in each direction were obtained respectively. ax M ay M azThe measured damping ratio ζ from this calibration test was then input as a new quality parameter into the linear drive calibration program and the program was rerun. A calibration test on an equivalent high-flexibility base was then conducted using the free decay method. a The influence of the inherent damping of the linear transmission equipment is corrected by combining mass parameters and natural frequency.

[0032] Optionally, the specific process of the dynamic analysis in step seven is as follows: First, the force between the bionic mechanism and the highly flexible base is decomposed along the coordinate system of the experimental platform. Then, the acceleration term is converted into inertial force by the dynamic-static method in D'Alembert's principle. Finally, the component forces of the actual force in each direction are solved by combining the measured force of the force sensor. Finally, the calculation formula of the component forces in each direction on the equivalent take-off plane is obtained.

[0033] Optionally, the specific form of the solution formula is as follows:

[0034]

[0035] In the formula, F ax F is the force to be solved in the x-direction. ix F is the inertial force in the x-direction. sx F represents the actual measured value of the three-dimensional force sensor in the x-direction. ay F is the force to be solved in the y-direction. iy F is the inertial force in the y-direction. sy F represents the actual measured value of the three-dimensional force sensor in the y-direction. az F is the force to be solved in the z-direction. iz F is the inertial force in the z-direction. sz This represents the actual measured value from the three-dimensional force sensor in the z-direction.

[0036] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a kinematics testing method for highly flexible substrates, which has the following beneficial effects:

[0037] 1. This invention uses a linear transmission device to centrally simulate the flexibility characteristics of the substrate, and replaces the rest with rigid components. This avoids the influence of higher-order vibration modes during the vibration process of the flexible structure on the sensor measurement, enabling the sensor to measure the key forces that drive the biomimetic mechanism's motion behavior on a highly flexible substrate.

[0038] 2. This invention can control multiple linear transmission devices through different mechanical models, making them exhibit different flexibility characteristics, and can simulate a large flexibility substrate with different characteristics in all directions without the need to replace additional components;

[0039] 3. This invention achieves synchronous operation of the linear transmission equipment control program and the force sensor acquisition program. Based on the position data fed back by the linear transmission equipment, the inertial force at the corresponding moment can be obtained for the calculation of the actual force, thus solving the measurement failure problem when a single force sensor faces a flexible substrate. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the flexibility characteristics of the target high flexibility substrate in Embodiment 2 of the present invention;

[0042] Figure 2 This is a schematic diagram of the experimental platform structure in Embodiment 2 of the present invention.

[0043] In the diagram: 1-frame; 2-x-direction linear drive equipment; 3-y-direction linear drive equipment; 4-equivalent base plane; 5-three-dimensional force sensor. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Embodiment 1 of this invention discloses a kinematics testing method for a highly flexible substrate, comprising the following steps:

[0046] Step 1: Determine the number of linear transmission devices based on the motion characteristics of the target research substrate.

[0047] Step 2: Obtain the mechanical model of the target research substrate. The mechanical model is determined by the relationship between force and displacement, velocity, and acceleration.

[0048] Step 3: Determine the control model of the linear drive equipment, and use the relevant parameters of the target research base mechanical model as the control parameters of the linear drive equipment;

[0049] Step 4: Complete the design and construction of the experimental platform and obtain its parameter attributes;

[0050] Step 5: Calibrate the sensors and linear transmission equipment in the experimental platform and complete the correction of control parameters;

[0051] Step Six: The linear transmission equipment and the force acquisition equipment operate synchronously to complete the kinematics test experiment of the bionic mechanism;

[0052] Step 7: Determine the forces that need to be solved, perform dynamic analysis on the experimental platform, and obtain the solution formula;

[0053] Step 8: Process the original force data according to the obtained solution formula to obtain the mechanical properties of the target research substrate.

[0054] In a specific embodiment, step one further includes, after analyzing the motion characteristics of the target research substrate object, determining its motion direction and setting up a linear transmission device in the corresponding direction to simulate its motion, while restricting the degrees of freedom of motion in the other directions.

[0055] In a specific embodiment, the mechanical model of the target research substrate in step two is as follows:

[0056]

[0057] Converted to the standard vibration form:

[0058]

[0059] In the formula, The term represents the inertial force in the x-direction. The term represents the inertial force in the y-direction. The term represents the inertial force in the z-direction; related to K and C are the stiffness-damping characteristics; M is the mass of the target substrate under study; C is the damping of the target substrate under study; K is the stiffness of the target substrate under study; and ζ... x To investigate the damping ratio of the base in the x-direction, ζ y To investigate the damping ratio of the base in the y-direction, ζ z The damping ratio in the z-direction of the substrate is studied for the target.

[0060] In a specific embodiment, the process of solving for the stiffness K and damping C of the target research substrate is as follows: the vibration characteristics of the target substrate are calibrated by performing a vibration characteristic calibration experiment using the free decay method, and the natural frequency and damping ratio in each direction are calculated respectively, thereby determining the stiffness K and damping C of the target research substrate.

[0061] In a specific embodiment, the control model of the linear drive device in step three is as follows:

[0062]

[0063] In the formula, F x For the control model of the linear transmission device in the x-direction, Fy For the control model of the linear transmission device in the y-direction, F z The control model for the linear transmission device in the z-direction has stiffness and damping parameters that are consistent with the model parameters obtained in step two.

[0064] In a specific embodiment, the specific process of designing and building the experimental platform in step four is as follows:

[0065] Based on the analysis results of step one, an experimental platform was designed. The stator of the x-axis linear transmission device was fixedly connected to the top surface of the three-dimensional force sensor; the stator of the y-axis linear transmission device was fixedly connected to the mover of the x-axis linear transmission device; the stator of the z-axis linear transmission device was fixedly connected to the mover of the y-axis linear transmission device; the equivalent base plane was fixedly connected to the mover of the z-axis linear transmission device; and the bottom surface of the three-dimensional force sensor was fixedly connected to the frame via a mounting plate. The experimental platform was then constructed, and the mass M participating in the motion in each direction was obtained. apx-x M apx-y M apx-z .

[0066] In a specific embodiment, the control parameter correction process is as follows: First, a calibration experiment is performed on the three-dimensional force sensor, and the calibration matrix is ​​input into the force acquisition program. Then, a calibration program for the linear transmission equipment is written to perform a calibration experiment on the linear transmission equipment. The mass involved in the motion in each direction of the test platform is corrected, and the inherent damping inside the linear transmission equipment is solved. When correcting the mass parameters, a natural frequency parameter ω is first set in the program. code The calibration program for the linear transmission equipment was run to conduct a free decay vibration test to obtain the natural frequency ω of the actual vibration characteristics. a Then according to the formula

[0067]

[0068] The actual mass parameters M of the experimental platform in each direction were obtained respectively. ax M ay M az The measured damping ratio ζ from this calibration test was then input as a new quality parameter into the linear drive calibration program and the program was rerun. A calibration test on an equivalent high-flexibility base was then conducted using the free decay method. a The influence of the inherent damping of the linear transmission equipment is corrected by combining mass parameters and natural frequency.

[0069] In a specific embodiment, the solution formula takes the following form:

[0070]

[0071] In the formula, F ax F is the force to be solved in the x-direction.ix F is the inertial force in the x-direction. sx F represents the actual measured value of the three-dimensional force sensor in the x-direction. ay F is the force to be solved in the y-direction. iy F is the inertial force in the y-direction. sy F represents the actual measured value of the three-dimensional force sensor in the y-direction. az F is the force to be solved in the z-direction. iz F is the inertial force in the z-direction. sz This represents the actual measured value from the three-dimensional force sensor in the z-direction.

[0072] Embodiment 2 of the present invention takes a planar two-degree-of-freedom highly flexible substrate as an example to further illustrate the method in this application, including the following steps:

[0073] Step 1: Based on the motion characteristics of the target research substrate, determine the number of linear transmission devices, such as... Figure 1 The diagram shows the compliance characteristics of the target high-compliance substrate. The substrate is orthogonal to each other in the plane, and has different compliance characteristics in the x and y directions. Two orthogonal linear transmission devices are arranged to simulate the compliance characteristics of the substrate.

[0074] Step 2: Obtain the mechanical model of the target research substrate. The mechanical model is determined by the relationship between force and displacement, velocity, and acceleration.

[0075] Step 3: Determine the control model of the linear drive equipment, and use the relevant parameters of the target research base mechanical model as the control parameters of the linear drive equipment;

[0076] Step 4: Complete the design and construction of the experimental platform and obtain its parameter attributes;

[0077] Step 5: Calibrate the sensors and linear transmission equipment in the experimental platform and complete the correction of control parameters;

[0078] Step Six: The linear transmission equipment and the force acquisition equipment operate synchronously to complete the kinematics test experiment of the bionic mechanism;

[0079] Step 7: Determine the forces that need to be solved, perform dynamic analysis on the experimental platform, and obtain the solution formula;

[0080] Step 8: Process the original force data according to the obtained solution formula to obtain the mechanical properties of the target research substrate.

[0081] In one specific embodiment, step one further includes, after analyzing the motion characteristics of the target research substrate object, determining its motion direction and setting up a linear transmission device in the corresponding direction to simulate its motion, while restricting the degrees of freedom of motion in the other directions.

[0082] In one specific embodiment, the mechanical model of the target research substrate in step two is as follows:

[0083]

[0084] Converted to the standard vibration form:

[0085]

[0086] In the formula, The term represents the inertial force in the x-direction. The term represents the inertial force in the y-direction; related to K and C are the stiffness-damping characteristics; M is the mass of the target substrate under study; C is the damping of the target substrate under study; K is the stiffness of the target substrate under study; and ζ... x The damping ratio in the x-direction of the substrate is studied for the target.

[0087] In one specific embodiment, the process of solving for the stiffness K and damping C of the target research substrate is as follows: the vibration characteristics of the target substrate are calibrated by performing a vibration characteristic calibration experiment using the free decay method, and the natural frequency and damping ratio in each direction are calculated respectively, thereby determining the stiffness K and damping C of the target research substrate.

[0088] In one specific embodiment, the control model of the linear drive device in step three is as follows:

[0089]

[0090] In the formula, This is the control model for a linear transmission device in the x-direction. For the control model of the linear transmission device in the x-direction, the stiffness and damping parameters are consistent with the model parameters obtained in step two, and the initial damping in the y-direction is C. y =0.

[0091] In one specific embodiment, the specific process of designing and building the experimental platform in step four is as follows:

[0092] Design the experimental setup based on the analysis results of step one, such as... Figure 2As shown, the stator of the x-direction linear transmission device 2 is fixedly connected to the top surface of the three-dimensional force sensor 5 to simulate the flexibility characteristics of the base in the x-direction; the stator of the y-direction linear transmission device 3 is fixedly connected to the mover of the x-direction linear transmission device 2 to simulate the flexibility characteristics of the base in the y-direction; the equivalent base plane 4 is fixedly connected to the mover of the y-direction linear transmission device 3 and is simultaneously controlled by the two linear transmission devices to simulate the large flexibility characteristics in the entire xOy plane; the bottom surface of the three-dimensional force sensor 5 is fixedly connected to the frame 1 via a mounting plate to measure the forces between the bionic mechanism and the equivalent large flexibility base, excluding inertial forces; the experimental platform is completed, and the mass M participating in the motion in each direction is obtained. apx-x M apx-y .

[0093] In one specific embodiment, the control parameter correction process is as follows: First, a calibration experiment is performed on the three-dimensional force sensor 5, and the calibration matrix is ​​input into the force acquisition program. Then, a calibration program for the linear transmission equipment is written to perform a calibration experiment on the linear transmission equipment. The mass involved in the motion in each direction of the experimental platform is corrected, and the inherent damping inside the linear transmission equipment is solved. When correcting the mass parameters, a natural frequency parameter ω is first set in the program. code The calibration program for the linear transmission equipment was run to conduct a free decay vibration test to obtain the natural frequency ω of the actual vibration characteristics. a Then according to the formula

[0094]

[0095] The actual mass parameters M of the experimental platform in each direction were obtained respectively. ax M ay The measured damping ratio ζ from this calibration test was then input as a new quality parameter into the linear drive calibration program and the program was rerun. A calibration test on an equivalent high-flexibility base was then conducted using the free decay method. a The influence of the inherent damping of the linear transmission equipment is corrected by combining mass parameters and natural frequency.

[0096] In one specific embodiment, the bionic mechanism to be tested is placed on the equivalent base plane 4 for a kinematics test experiment, which can obtain the force data output by the three-dimensional force sensor 5 and the position data output by the x-direction linear transmission device 2 and the y-direction linear transmission device 3.

[0097] In a specific embodiment, the specific process of step seven, dynamic analysis, is as follows: First, the force between the bionic mechanism and the highly flexible base is decomposed into tangential force (parallel to the xOy plane) and normal force (perpendicular to the xOy plane). Then, the acceleration term is converted into inertial force using the dynamic-static method in d'Alembert's principle. Finally, the actual force is solved by combining the measured force of the force sensor, and the calculation formulas for the tangential and normal forces on the equivalent take-off plane are obtained.

[0098] In one specific embodiment, the solution formula takes the following form:

[0099]

[0100] In the formula, F ax F is the force to be solved in the x-direction. ix F is the inertial force in the x-direction. sx F represents the actual measured value of the three-dimensional force sensor in the x-direction. ay F is the force to be solved in the y-direction. iy F is the inertial force in the y-direction. sy F represents the actual measured value of the three-dimensional force sensor in the y-direction. az F is the force to be solved in the z-direction. sz This represents the actual measured value from the three-dimensional force sensor in the z-direction.

[0101] In one specific embodiment, the position data output by the x-direction linear transmission device 2 and the y-direction linear transmission device 3 are differentiated twice to obtain the acceleration data of the equivalent high flexibility substrate during the experiment. Combined with the mass parameters of the experimental platform in each direction obtained from the calibration, the inertial force data in the x and y directions with high flexibility characteristics can be obtained. The obtained inertial force data and the original force data measured by the three-dimensional force sensor 5 are processed according to the solution formula to obtain the interaction force between the bionic mechanism and the equivalent high flexibility substrate during the experiment. The result of this interaction force can approximately characterize the mechanical properties of the bionic mechanism on the actual planar two-degree-of-freedom high flexibility substrate under study.

[0102] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0103] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A kinematics testing method for highly flexible substrates, characterized in that, include: Step 1: Determine the number of linear transmission devices based on the motion characteristics of the target research substrate. Step 2: Obtain the mechanical model of the target research substrate. The mechanical model is determined by the relationship between force and displacement, velocity, and acceleration. Step 3: Determine the control model of the linear drive equipment, and use the relevant parameters of the target research base mechanical model as the control parameters of the linear drive equipment; Step 4: Complete the design and construction of the experimental platform and obtain its parameter attributes; Step 5: Calibrate the sensors and linear transmission equipment in the experimental platform and complete the correction of control parameters; Step Six: The linear transmission equipment and the force acquisition equipment operate synchronously to complete the kinematics test experiment of the bionic mechanism; Step 7: Determine the forces that need to be solved, perform dynamic analysis on the experimental platform, and obtain the solution formula; Step 8: Process the original force data according to the obtained solution formula to obtain the mechanical properties of the target research substrate. The mechanical model of the target research substrate mentioned in step two is as follows: ； Converted to the standard vibration form: ； In the formula, Item for x Directional inertial force, Item for y Directional inertial force, Item for z Directional inertial force, and and The relevant characteristic is stiffness-damping. To study the quality of the substrate, To study the base damping, To study the base stiffness, Research base for the target x Directional damping ratio, Research base for the target y Directional damping ratio, Research base for the target z Directional damping ratio; The control model for the linear transmission equipment mentioned in step three is as follows: ； In the formula, for x Control model for directional linear transmission equipment. for y Control model for directional linear transmission equipment. for z The control model of the directional linear transmission device has the same stiffness and damping parameters as the model parameters obtained in step two. The specific process of designing and building the experimental platform described in step four is as follows: The experimental setup is designed based on the analysis results of step one, wherein, x The stator of the linear drive equipment is fixedly connected to the top surface of the three-dimensional force sensor. y To the stator and of the linear drive equipment x Fixed connection to the moving part of the linear drive equipment. z To the stator and of the linear drive equipment y Fixed connection to the moving part of the linear drive device, with the equivalent base plane and z The moving part of the linear transmission device is fixedly connected, and the bottom surface of the three-dimensional force sensor is fixedly connected to the frame via a mounting plate. The experimental platform is then constructed, and the masses involved in the motion in each direction are acquired. , , ; The specific process for correcting the control parameters is as follows: First, a calibration experiment is performed on the three-dimensional force sensor, and the calibration matrix is ​​input into the force acquisition program. Then, a calibration program for the linear transmission equipment is written to conduct a calibration experiment on the linear transmission equipment. The masses involved in the motion in each direction of the experimental platform are corrected, and the inherent damping inside the linear transmission equipment is solved. When correcting the mass parameters, a natural frequency parameter is first set in the program. The natural frequencies of the actual vibration characteristics were obtained by running the calibration program for the linear transmission equipment and conducting free decay vibration tests. Then according to the formula ； The actual mass parameters of the experimental platform in each direction were obtained respectively. , , The measured damping ratio from this calibration test was then input as a new quality parameter into the linear drive calibration program, and the program was rerun. A calibration test on an equivalent high-flexibility base was then conducted using the free decay method. The influence of the inherent damping of the linear transmission equipment is corrected by combining mass parameters and natural frequency.

2. The kinematics testing method for a highly flexible substrate according to claim 1, characterized in that, Step one also includes, after analyzing the motion characteristics of the target research substrate, determining its motion direction and setting up linear transmission devices in the corresponding directions to simulate its motion, while restricting the degrees of freedom of motion in the other directions.

3. The kinematics testing method for a highly flexible substrate according to claim 1, characterized in that, The stiffness of the target research substrate and damping The solution process is as follows: Vibration characteristic calibration experiments are conducted on the target substrate using the free decay method to determine the natural frequencies and damping ratios in each direction, thereby calculating the stiffness of the target substrate. and damping .

4. The kinematics testing method for a highly flexible substrate according to claim 1, characterized in that, The specific process of the dynamic analysis described in step seven is as follows: First, the force between the bionic mechanism and the high flexibility base is decomposed along the coordinate system of the experimental platform. Then, the acceleration term is converted into inertial force by the dynamic-static method in D'Alembert's principle. Finally, the component forces of the actual force in each direction are solved by combining the measured force of the force sensor. Finally, the calculation formula of the component forces in each direction on the equivalent take-off plane is obtained.

5. The kinematics testing method for a highly flexible substrate according to claim 4, characterized in that, The specific form of the solution formula is as follows: ； In the formula, for x The force to be solved in the direction, for x Directional inertial force, for x Actual measured values ​​from the directional three-dimensional force sensor. for y The force to be solved in the direction, for y Directional inertial force, for y Actual measured values ​​from the directional three-dimensional force sensor. for z The force to be solved in the direction, for z Directional inertial force, for z Actual measured values ​​from the directional three-dimensional force sensor.

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