The Design Of Six-Axis Accelerometer's Elastic Body Based On Stewart Platform

Six-axis accelerometer is a kind of inertial sensor getting kinetic parameters, applied in robots to realize dynamic and stable grasping, Aiming at few researches on six-axis accelerometer at home and abroad, this thesis presented a process of constructing parallel framework and a method of designing six-axis accelerometer's elastic body by means of existing theory of parallel machine.The design of elastic body is the key of accelerometer. The mechanical model of six-axis accelerometer's elastic body is established, and analytic relationship was deduced, using Stewart platform as prototype, in which the elastic joint was adopted to replace conventional joint. The demand in designing elastic body and evaluation standard of prismatic pair(P-pair for short)were brought forward according to demands of designing normal accelerometer's elastic body and characteristics of parallel machine. It analyzed the influence of P-pair on position-stance of Stewart platform.Analyzing the flat board P-pair and the symmetrical parallel board P-pair, which are in existence. Aiming at the problems of P-pair in existence, the new type parallel board framed P-pair was designed. It analyzed the relationship between the main structural parameters and the performance of the three P-pairs, such as the rigidity, the kinetic precision, the linearity etc. and the characteristics of application, which was the basis in designing the elastic body.According to the different needs of performance, the instance for six-axis accelerometer and the process for ascertaining structural parameters are given.