CN101034095A - Six dimensional crossing decoupling RSS acceleration transducer - Google Patents
Six dimensional crossing decoupling RSS acceleration transducer Download PDFInfo
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- CN101034095A CN101034095A CN 200710061721 CN200710061721A CN101034095A CN 101034095 A CN101034095 A CN 101034095A CN 200710061721 CN200710061721 CN 200710061721 CN 200710061721 A CN200710061721 A CN 200710061721A CN 101034095 A CN101034095 A CN 101034095A
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- revolute pair
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- branched chain
- rss
- side chain
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Abstract
This invention disclose a 6 dof perpendicularity discoupling RSS acceleration transducer, the characteristic: inertial platform (1) connect with fixed platform (3) by 3 groups branched chain, each group branched chain composed by two branched chain (2). master rod of each block branched chain mutualy plumb in space, fixed platform connect with each group branched chain mutual perpendicular in space;inertial platform (1) is regular polyhedron inertia or roundness quality piece; each strip branched chain (2) has two elasticity sphere deputy ( 2 - 1) and one turn deputy ( 2 - 4). On top of turn deputy perch (2-3), there has elasticity turn deputy ( 2-4) that cross section is rectangular. Two surface of elasticity turn deputy (2 - 4) adhibit strain gauge (2 - 5). The elastomer in this invention quite right respond to corresponding parallel institution mechanical model, has normal and adult design philosophy, thus theoretical design error is smallness;owing to institution model possess favorable discoupling quality, the sendout synthesizing and decomposition algorithm are simplicity, response quickly; And has good isotropy.
Description
Technical field
The present invention relates to a kind of six dimensional crossing decoupling RSS acceleration transducer that is used for measurement space three-dimensional line acceleration and three dimensional angular acceleration.Belong to the automatic control technology field.
Background technology
Acceleration transducer generally is made of elastic body, foil gauge (or other elements) and change-over circuit.When measuring acceleration was treated in existence, the effect that elastic body can be subjected to mass inertial force or moment deformed, and obtained corresponding linear acceleration or angular acceleration by foil gauge and change-over circuit.Three-dimensional at present following acceleration transducer technology comparative maturity, the product on the market is also more.For six-dimension acceleration sensor, its elastomer structure complexity lacks ripe design theory, and the technological difficulties of therefore developing six-dimension acceleration sensor are to find and are easy to the elastomer structure that designs and make.At present, for six-dimension acceleration sensor, adopt the diesis girder construction, the acceleration transducer isotropy of this structure is relatively poor more, the degree of coupling height, and the calculated amount in the design and use is bigger.
Summary of the invention
In order to overcome the existing deficiency of six-dimension acceleration sensor on elastomer structure and method for designing, the invention provides a kind of six dimensional crossing decoupling RSS acceleration transducer, quadrature 6-RSS parallel institution as elastomeric mechanical model, is analyzed and designed by existing parallel institution theory fully.This sensor can measurement space three-dimensional line acceleration and three dimensional angular acceleration.
The technical solution adopted in the present invention is: at first six degree of freedom 6-RSS parallel institution has been carried out configuration, obtained a kind of brand-new quadrature 6-RSS parallel institution.The inertial platform of this sensor is connected by 3 groups of parallel side chains with stationary platform, and is vertical in twos between the mobile jib of every group of side chain.Every side chain has 2 ball pairs (S pair) and 1 revolute pair (R pair), and the ball sub-center line at mobile jib two ends and the axis of revolute pair bar and revolute pair are perpendicular.Elastic body has 6 fine motion degree of freedom, just with 6 tested components of acceleration formation corresponding relations, and has good decoupling.Short thin plate as the elasticity revolute pair is all arranged in every side chain between inertial platform and the stationary platform, thin plate posts foil gauge, when sensor moves with testee, if there is acceleration to exist, mass is subjected to corresponding inertial force or moment loading, can produce corresponding strain on six elasticity revolute pairs, obtain corresponding six output signals by external four arm differential bridges.
The invention has the beneficial effects as follows: the elastic body of this structure sensor is corresponding fully with corresponding parallel institution mechanical model, the design theory of standard maturation is arranged, thereby the Design Theory error is little; Because its mechanism model has good decoupling, output quantity is synthetic and decomposition algorithm is simple, and response is fast; Isotropy is good.
Description of drawings
Fig. 1 is the parallel institution sketch of six dimensional crossing decoupling RSS elastic body correspondence;
Fig. 2 is six dimensional crossing decoupling RSS acceleration transducer elastomer structure figure;
Fig. 3 is elastic body branched structure figure;
Fig. 4 is sensor side chain four arm differential bridges.
In Fig. 1, Fig. 2, Fig. 3 and Fig. 4,1. inertial platform (inertial mass), 2. side chain, 3. stationary platform (mounting seat), 2-1. the elastic ball pair, 2-2. side chain mobile jib, 2-3. revolute pair bar, 2-4. be revolute pair, the 2-5. foil gauge, a link ends adopts interference fit to connect with platform.
Embodiment
Fig. 1 is an embodiment disclosed by the invention, connect with 3 groups of side chains between inertial platform 1 and the stationary platform 3, inertial platform 1 is regular polygon inertia or spherical mass, every group of side chain is made up of two side chains 2, their side chain mobile jib 2-2 is vertical in twos in the space, and the stationary platform 3 that is connected with every group of side chain 2 is vertical mutually in the space.Every side chain 2 has 2 ball pairs (S pair) and 1 revolute pair (R pair), side chain 2 is made up of side chain mobile jib 2-2, secondary 2-1 of elastic ball, revolute pair bar 2-3 and revolute pair 2-4, the two ends of side chain mobile jib 2-2 are secondary 2-1 of elastic ball, secondary 2-1 of elastic ball connects with inertial platform 1 interference fit and revolute pair bar 2-3 is rigidly connected, revolute pair bar 2-3 connects with fixed platform 3 interference fit, being processed with xsect on the revolute pair bar 2-3 is the elasticity revolute pair of rectangle, and 4 foil gauge 2-5 are pasted on its surface.The lead-in wire of foil gauge 2-5 connects external four arm differential bridges.
Six dimensional crossing decoupling RSS acceleration transducer can directly be applied in the multidimensional acceleration test system, also can be installed on the moving component of machines such as robot, automobile, lathe to carry out acceleration detection and motion control.Accompanying drawing is exactly to be applied in the sensor that the robot wrist acceleration of motion detects.Utilize the sextuple space motion control of the sensor realization arm of this structural design.It also can be directly installed on the acceleration test instrument, is used for the measurement space six-dimension acceleration.
Claims (4)
1. six dimensional crossing decoupling RSS acceleration transducer, comprise inertial platform (1) and stationary platform (3), it is characterized in that: connect with 3 groups of side chains between inertial platform (1) and the stationary platform (3), every side chain (2) has 2 elastic ball pairs (2-1) and 1 revolute pair (2-4), every group of side chain is made up of two side chains (2), and every group of side chain mobile jib (2-2) is vertical in twos in the space; The stationary platform (3) that is connected with every group of side chain is vertical mutually in the space; Being processed with xsect on the revolute pair bar 2-3 is the elasticity revolute pair (2-4) of rectangle, and foil gauge (2-5) is pasted on two surfaces of elasticity revolute pair (2-4).
2. six dimensional crossing decoupling RSS force sensor according to claim 1 is characterized in that: described inertial platform (1) is regular polygon inertia or spherical mass.
3. six dimensional crossing decoupling RSS acceleration transducer according to claim 1 and 2, it is characterized in that: the two ends of side chain mobile jib (2-2) are elastic ball pair (2-1), elastic ball pair (2-1) connects with inertial platform (1) interference fit and revolute pair bar (2-3) is rigidly connected, and revolute pair bar (2-3) connects with fixed platform (3) interference fit.
4. six dimensional crossing decoupling RSS acceleration transducer according to claim 3 is characterized in that: the axis of the line of centres of the elastic ball pair (2-1) at side chain mobile jib (2-2) two ends and revolute pair bar (2-3) and revolute pair (2-4) is perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710061721 CN101034095A (en) | 2007-04-17 | 2007-04-17 | Six dimensional crossing decoupling RSS acceleration transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710061721 CN101034095A (en) | 2007-04-17 | 2007-04-17 | Six dimensional crossing decoupling RSS acceleration transducer |
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| Publication Number | Publication Date |
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| CN101034095A true CN101034095A (en) | 2007-09-12 |
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| CN 200710061721 Pending CN101034095A (en) | 2007-04-17 | 2007-04-17 | Six dimensional crossing decoupling RSS acceleration transducer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101949954A (en) * | 2010-08-10 | 2011-01-19 | 南京航空航天大学 | Redundant parallel six-dimensional acceleration transducer and measuring method thereof |
| CN108802427A (en) * | 2018-06-11 | 2018-11-13 | 南京林业大学 | Prefastening parallel connection six-dimension acceleration sensor and its measurement and Sensitivity Analysis Method |
| CN109580989A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer elastomer |
| CN114624468A (en) * | 2022-05-17 | 2022-06-14 | 山东利恩斯智能科技有限公司 | Waterproof six-dimensional vibration sensor and measuring method thereof |
| CN114668362A (en) * | 2022-03-18 | 2022-06-28 | 元化智能科技(深圳)有限公司 | Positioning system and device of wireless capsule endoscope and computer equipment |
-
2007
- 2007-04-17 CN CN 200710061721 patent/CN101034095A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101949954A (en) * | 2010-08-10 | 2011-01-19 | 南京航空航天大学 | Redundant parallel six-dimensional acceleration transducer and measuring method thereof |
| CN101949954B (en) * | 2010-08-10 | 2013-04-17 | 南京航空航天大学 | Redundant parallel six-dimensional acceleration transducer and measuring method thereof |
| CN108802427A (en) * | 2018-06-11 | 2018-11-13 | 南京林业大学 | Prefastening parallel connection six-dimension acceleration sensor and its measurement and Sensitivity Analysis Method |
| CN108802427B (en) * | 2018-06-11 | 2020-06-02 | 南京林业大学 | Pre-tightening type parallel six-dimensional acceleration sensor and measuring and sensitivity analyzing method thereof |
| CN109580989A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer elastomer |
| CN109580989B (en) * | 2019-01-17 | 2023-07-18 | 北京林业大学 | Acceleration sensor elastomer |
| CN114668362A (en) * | 2022-03-18 | 2022-06-28 | 元化智能科技(深圳)有限公司 | Positioning system and device of wireless capsule endoscope and computer equipment |
| CN114624468A (en) * | 2022-05-17 | 2022-06-14 | 山东利恩斯智能科技有限公司 | Waterproof six-dimensional vibration sensor and measuring method thereof |
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