Six-Axis Accelerometer Based On Parallel Mechanism

Six-axis accelerometer is used as the important key element for detecting and control in the field of navigation,military affairs and robotic etc. It is said that the research on multi-axis accelerometer with novel structure and high accuracy is one of the most advanced technology of transducer in the world. The approach to design the six-axis accelerometer based on parallel mechanism and the key theory are told in this paper. According to the theory about parallel mechanism, it is easier to design the elastic body of the six-axis accelerometer.This paper presents two kinds of six-axis accelerometers by using 6-sps and 6-rss parallel mechanism as prototype, on which the relationship between the input and the output is deduced. And the approach to get six-axis accelerometer by parallel mechanism is testified through the theory. The performance measures are defined in this paper according to the characteristic of the parallel mechanism and the performance measures of the normal sensor.The mathematic models about isotropy,linear acceleration sensitivity and angular acceleration sensitivity are analyzed. Through the performance atlas, the relationship between the performances and the parameters of the elastic body is given. How the change of the inertial mass center affects the performance index is also illuminated. Acceleration of gravity in the accelerometer's output is eliminated by vector synthesis.Under the condition of isotropy,linear acceleration sensitivity,angular acceleration sensitivity and other restrictions that affect the sensor, the approach to design the accelerometer is introduced in detail.