Inverse Dynamics of Six-axis Accelerometers Based on Parallel Mechanisms

doi:10.3901/JME.2022.06.010

Abstract

Abstract: Six-axis accelerometers can measure the spatial accelerations of moving carriers, which have broad applications in the fields of artificial intelligence and the like. The inverse dynamics of this type of system has not yet been resolved due to the strong nonlinear coupling between multiple inputs and multiple outputs. Taking the six-axis accelerometers based on "12-6" and "9-3" configuration parallel mechanisms as examples, their inverse kinetic equations are derived and solved in the phase space by introducing quaternion matrices and a cross product operation rule related to the fourth-order vectors. Based on these, the relations between the numerical behavior and influencing factors of the equations are revealed. The study found that: the equations are more effective when the relative motion parameters between the mass and the base are ignored; the solution accuracies of the equations are related to the topological configurations of the elastic bodies, the frequencies of the measured signal, the sampling frequency ratios and the sampling time; when the sampling frequencies are less than 60kHz, the solution efficiencies of the equations meet the real-time requirements. Next, the minimum eigenvalues of the stiffness matrices of the two configurations are solved by combining the virtual power principle and the characteristic length method. The root cause of the relations between the elastic body topologies and the accuracies of the equation solutions is found, which provides the theoretical guidance for the configuration synthesis of multi-dimensional sensors. Further, in view of the fact that the accelerations are invalid when there are small or large disturbance in the equations, the corresponding error compensation and fault restoration algorithms are constructed by monitoring the rotation direction alternate point of the base and establishing a compatibility closed chain in terms of the input, respectively. The measurement errors of the physical prototypes of the two configurations can be controlled within 5.822% and 6.781% respectively, both of which meet the real-time request, verifying that the inverse dynamic model is effective and reliable.

Key words: parallel mechanism, six-axis accelerometer, quaternion, inverse dynamics, phase space, stiffness

CLC Number:

TH825

YOU Jingjing, WANG Linkang, LIU Yunping, LI Chenggang, WU Hongtao. Inverse Dynamics of Six-axis Accelerometers Based on Parallel Mechanisms[J]. Journal of Mechanical Engineering, 2022, 58(6): 10-25.

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