CN101034096A - Six dimensional RSS acceleration transducer - Google Patents
Six dimensional RSS acceleration transducer Download PDFInfo
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- CN101034096A CN101034096A CN 200710061723 CN200710061723A CN101034096A CN 101034096 A CN101034096 A CN 101034096A CN 200710061723 CN200710061723 CN 200710061723 CN 200710061723 A CN200710061723 A CN 200710061723A CN 101034096 A CN101034096 A CN 101034096A
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Abstract
This invention disclose a 6 dof perpendicularity discoupling RSS acceleration transducer, the characteristic: inertial platform (1) join with fixed platform (3) by 3 groups branched chain, each group branched chain include Left Side branched chain ( 2) and right side branched chain ( 3) left and right branched chain have same structural phase but different gesture. Branched chain at fixed platform (4) submit circle symmetry disposal. Each strip branched chain (2) has two elasticity sphere deputy (2 - 2) and one elasticity turn deputy ( 2 - 5). on top of turn deputy perch (2-4), there has elasticity turn deputy ( 2-5) that cross section is rectangular. two surface of elasticity turn deputy (2 - 5) adhibit strain gauge ( 2 - 6). 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 automatic control technology field, particularly relate to the six dimensional RSS acceleration transducer of a kind of measurement space three-dimensional line acceleration and three dimensional angular acceleration.
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 or other detecting element and change-over circuit.
At present, three-dimensional following acceleration transducer technology comparative maturity, the product on the market is also more.Because the complexity of elastomer structure lacks ripe design theory, therefore the technological difficulties of exploitation are to find and are easy to the elastomer structure that designs and make for six-dimension acceleration sensor.At present, six-dimension acceleration sensor adopts the diesis girder construction more, deficiency such as the acceleration transducer of this structure exists that isotropy is relatively poor, design and manufacture difficulty are big.
Summary of the invention
Deficiency such as have in order to overcome existing six-dimension acceleration sensor that isotropy is relatively poor, design and manufacture difficulty are big the invention provides a kind of six dimensional RSS acceleration transducer.This sensor as elastomeric mechanical model, is analyzed the 6-RSS parallel institution and designed by existing parallel institution theory fully.The present invention can measurement space three-dimensional line acceleration and three dimensional angular acceleration.
The technical solution adopted in the present invention:
As connecting with 3 groups of side chains between the inertial platform of inertial mass and the stationary platform, described side chain is the circumference symmetric arrangement in stationary platform.Every group of side chain comprises left side side chain and right side side chain, the identical and symmetric arrangement of the structure of left and right side side chain.Every side chain has 2 elastic ball pairs (S pair) and 1 elasticity revolute pair (R pair), and the line of side chain mobile jib two ends elastic ball sub-center is vertical with the rotary centerline of elasticity revolute pair.Each side chain is made up of last pitman shaft, elastic ball pair, side chain mobile jib, revolute pair bar, elasticity revolute pair and second line of a couplet extension bar, the two ends of side chain mobile jib are the elastic ball pair, the elastic ball pair is rigidly connected with last pitman shaft and revolute pair bar respectively, revolute pair bar and second line of a couplet extension bar are rigidly connected, and last pitman shaft and second line of a couplet extension bar adopt interference fit to connect with inertial platform and fixed platform respectively; Being processed with xsect on the revolute pair bar is the elasticity revolute pair of rectangle, and foil gauge is pasted on its surface.Elastic body has 6 fine motion degree of freedom, with 6 tested components of acceleration formation corresponding relations.When sensor moved with testee, if there is acceleration to exist, inertial platform was subjected to corresponding inertial force or moment loading, can produce corresponding strain on six elasticity revolute pairs, obtained corresponding six output signals by external four arm differential bridges.Relative two brachium pontis answers the Variable Polarity unanimity in the electric bridge.
Beneficial effect of the present invention: the sensor of this structure is corresponding fully with corresponding parallel institution mechanical model at elastic body, the design theory of standard maturation is arranged, thereby the Design Theory error is little; Output quantity is synthetic and decomposition algorithm is simple, and response is fast, and isotropy is good.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing.
Fig. 1 is the parallel institution sketch of elastic body correspondence;
Fig. 2 is elastomer structure figure;
Fig. 3 is branched structure figure;
Fig. 4 is side chain four arm differential bridges.
In Fig. 1, Fig. 2,1. inertial platform (inertial mass), 2. left side side chain, 3. right side side chain, 4. stationary platform (mounting seat).In Fig. 3, Fig. 4, the last pitman shaft of 2-1., 2-2. elastic ball pair, 2-3. side chain mobile jib, 2-4. revolute pair bar, 2-5. elasticity revolute pair, 2-6. foil gauge, 2-7. second line of a couplet extension bar.
Embodiment
Fig. 1 is an embodiment disclosed by the invention, connects with 3 groups of side chains between inertial platform (inertial mass) 1 and the stationary platform 4, and every group of side chain is made up of left side side chain 2 and right side side chain 3, identical just its pose difference of the structure of left and right side side chain (2,3).Each side chain is by last pitman shaft 2-1, secondary 2-2 of elastic ball, side chain mobile jib 2-3, revolute pair bar 2-4, elasticity revolute pair 2-5 and second line of a couplet extension bar 2-7 form, the two ends secondary 2-2 of flexible ball of side chain mobile jib 2-3, secondary 2-2 of elastic ball is rigidly connected with last pitman shaft 2-1 and revolute pair bar 2-4 respectively, revolute pair bar 2-4 and second line of a couplet extension bar 2-7 are rigidly connected, last pitman shaft 2-1 and second line of a couplet extension bar 2-7 adopt interference fit to connect with inertial platform (inertial mass) 1 and fixed platform 4 respectively, and the line at secondary 2-2 of elastic ball center, side chain mobile jib 2-3 two ends is vertical with the rotary centerline of elasticity revolute pair 2-5.Be processed with rectangular cross-sectional surface elastic revolute pair 2-5 on the revolute pair bar 2-4, on two surfaces of elasticity revolute pair 2-5 correspondence, paste 4 foil gauge 2-6.
Six dimensional 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.Fig. 2, Fig. 3 and Fig. 4 are a kind of elastic body, patch location and electric bridges that is used for the acceleration detection sensor of robot wrist motion.Utilize the sensor of this structural design can realize the sextuple space motion control of arm.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 RSS acceleration transducer, comprise inertial platform (1) and stationary platform (4), it is characterized in that: inertial platform (1) and stationary platform (4) as inertial mass are connected by 3 groups of uniform side chains, every group of side chain comprises left side side chain (2) and right side side chain (3), identical and its pose difference of the structure of left and right side side chain (2,3); Described side chain is the circumference symmetric arrangement in stationary platform (4), every side chain has two elastic ball pairs (2-2) and an elasticity revolute pair (2-5), be processed with rectangular cross-sectional surface elastic revolute pair (2-5) on the revolute pair bar (2-4), on two corresponding surfaces of elasticity revolute pair (2-5), paste foil gauge (2-6).
2. six dimensional RSS acceleration transducer according to claim 1 is characterized in that: described inertial platform (1) is a mass.
3. six dimensional RSS acceleration transducer according to claim 1 and 2 is characterized in that: the two ends of described side chain mobile jib (2-3) are elastic ball pair (2-2), and elastic ball pair (2-2) is rigidly connected with last pitman shaft (2-1) and revolute pair bar (2-4) respectively; Revolute pair bar (2-4) is rigidly connected with second line of a couplet extension bar (2-7); Last pitman shaft (2-1) and second line of a couplet extension bar (2-7) adopt interference fit to connect with inertial platform (1) and fixed platform (4) respectively.
4. six dimensional RSS acceleration transducer according to claim 3 is characterized in that: the line at secondary 2-2 of elastic ball center, described side chain mobile jib 2-3 two ends is vertical with the rotary centerline of elasticity revolute pair 2-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710061723 CN101034096A (en) | 2007-04-17 | 2007-04-17 | Six dimensional RSS acceleration transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710061723 CN101034096A (en) | 2007-04-17 | 2007-04-17 | Six dimensional RSS acceleration transducer |
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| CN101034096A true CN101034096A (en) | 2007-09-12 |
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| CN 200710061723 Pending CN101034096A (en) | 2007-04-17 | 2007-04-17 | Six dimensional RSS acceleration transducer |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101858932A (en) * | 2010-05-17 | 2010-10-13 | 山东理工大学 | Six-dimensional acceleration transducer |
| CN101937008A (en) * | 2010-07-23 | 2011-01-05 | 燕山大学 | Bar-beam structure six-axis accelerometer |
| CN106980033A (en) * | 2017-04-06 | 2017-07-25 | 北京林业大学 | A kind of sensor branch structure based on Steward platforms |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
| CN109580989A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer elastomer |
| CN111412951A (en) * | 2020-04-14 | 2020-07-14 | 大连理工大学 | Sensor for monitoring vibration fatigue load of mechanical part in real time under impact load and design method |
| 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 200710061723 patent/CN101034096A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101858932A (en) * | 2010-05-17 | 2010-10-13 | 山东理工大学 | Six-dimensional acceleration transducer |
| CN101937008A (en) * | 2010-07-23 | 2011-01-05 | 燕山大学 | Bar-beam structure six-axis accelerometer |
| CN106980033A (en) * | 2017-04-06 | 2017-07-25 | 北京林业大学 | A kind of sensor branch structure based on Steward platforms |
| CN106980033B (en) * | 2017-04-06 | 2023-05-02 | 北京林业大学 | Sensor branch structure based on Stewart platform |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
| CN108693382B (en) * | 2018-04-28 | 2020-05-15 | 北京林业大学 | Parallel six-dimensional acceleration sensor |
| 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 |
| CN111412951A (en) * | 2020-04-14 | 2020-07-14 | 大连理工大学 | Sensor for monitoring vibration fatigue load of mechanical part in real time under impact load and design method |
| CN111412951B (en) * | 2020-04-14 | 2021-05-07 | 大连理工大学 | Sensor for monitoring vibration fatigue load of mechanical part in real time under impact load and design method |
| 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 |
| CN114668362B (en) * | 2022-03-18 | 2022-11-11 | 元化智能科技(深圳)有限公司 | Positioning system and device of wireless capsule endoscope and computer equipment |
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