| In this paper, theoretical analysis and experimental study of multi-dimensional acceleration sensor was carried out more in-depth and systematic analysis and synthesis in domestic and foreign. On this basis, the static calibration system of the Six-axis accelerometer is designed and the model machine of the whole pretension platform of the six-axis accelerometer is proceed by the research of the static calibration experiment and error analysis.By using the 6-SPS parallel mechanism as the prototype,the mapping relationship between the input acceleration vector and the output signal was established based on the theory of parallel mechanism. The feasibility of six-axis accelerometer was verified theoretically. According to the characteristics of parallel mechanism and combined with a general sensor performance indicators, the performance indicators of the six axis accelerometer was defined .Based on the study of the previous, the size of overall structure of the sensor is developed. In order to further optimize the performance of the sensor. Some parts of the sensor have been optimized and the existence of the problems , such as gaps and friction of the ball and socket structure and so on, are solved. For the current of experimental calibration status of the six-axis accelerometer, a set of calibration platform is designed. ImproveThe method of static calibration of the six-axis accelerometer has been studied. First, the method of the traditional calibration of the Stewart platform was studied. Then, force analysis of the overall preload-style six-axis accelerometer in this subject was done, and on this based the two kinds of calibration methods was proposed. This method is different from train of thought. Numerical, matrix theory was used to solve the complex calibration problems due to statically indeterminate force. The research work in this paper has some theoretical importance and practical value for the further research of the six-axis accelerometer used on the robot. |
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