Forward and Inverse Dynamics of a Six-Axis Accelerometer Based on a Parallel Mechanism
Autor: | Jingjing You, Xiaolong Yang, Linkang Wang, Hongtao Wu, Chenggang Li, Chen Huaxin |
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Jazyk: | angličtina |
Rok vydání: | 2021 |
Předmět: |
Computer science
Differential equation MathematicsofComputing_NUMERICALANALYSIS inverse dynamics 02 engineering and technology Accelerometer lcsh:Chemical technology 01 natural sciences Biochemistry Article Analytical Chemistry Inverse dynamics Momentum Legendre transformation decoupling symbols.namesake ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION parallel mechanism Applied mathematics lcsh:TP1-1185 Electrical and Electronic Engineering Quaternion Instrumentation Hamiltonian mechanics 010401 analytical chemistry Decoupling (cosmology) 021001 nanoscience & nanotechnology Atomic and Molecular Physics and Optics 0104 chemical sciences Phase space six-axis accelerometer symbols forward dynamics Configuration space 0210 nano-technology |
Zdroj: | Sensors (Basel, Switzerland) Sensors, Vol 21, Iss 233, p 233 (2021) Sensors Volume 21 Issue 1 |
ISSN: | 1424-8220 |
Popis: | The solution of the dynamic equations of the six-axis accelerometer is a prerequisite for sensor calibration, structural optimization, and practical application. However, the forward dynamic equations (FDEs) and inverse dynamic equations (IDEs) of this type of system have not been completely solved due to the strongly nonlinear coupling relationship between the inputs and outputs. This article presents a comprehensive study of the FDEs and IDEs of the six-axis accelerometer based on a parallel mechanism. Firstly, two sets of dynamic equations of the sensor are constructed based on the Newton&ndash Euler method in the configuration space. Secondly, based on the analytical solution of the sensor branch chain length, the coordination equation between the output signals of the branch chain is constructed. The FDEs of the sensor are established by combining the coordination equations and two sets of dynamic equations. Furthermore, by introducing generalized momentum and Hamiltonian function and using Legendre transformation, the vibration differential equations (VDEs) of the sensor are derived. The VDEs and Newton&ndash Euler equations constitute the IDEs of the system. Finally, the explicit recursive algorithm for solving the quaternion in the equation is given in the phase space. Then the IDEs are solved by substituting the quaternion into the dynamic equations in the configuration space. The predicted numerical results of the established FDEs and IDEs are verified by comparing with virtual and actual experimental data. The actual experiment shows that the relative errors of the FDEs and the IDEs constructed in this article are 2.21% and 7.65%, respectively. This research provides a new strategy for further improving the practicability of the six-axis accelerometer. |
Databáze: | OpenAIRE |
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