Study on sensitivity and static stiffness of parallel six-axis acceleration sensing mechanisms

ZHANG Yuanwei; YOU Jingjing; ZHANG Xianzhu

Chinese

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Study on sensitivity and static stiffness of parallel six-axis acceleration sensing mechanisms

Research & Approach | 更新时间：2025-12-30

- Study on sensitivity and static stiffness of parallel six-axis acceleration sensing mechanisms
- Vol. 44, Issue 11, Pages: 47-51+56(2025)
- 作者机构：
  
  南京林业大学机械电子工程学院,江苏,南京,210037
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212
- Published：2025
- 稿件说明：
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ZHANG Yuanwei, YOU Jingjing, ZHANG Xianzhu. Study on sensitivity and static stiffness of parallel six-axis acceleration sensing mechanisms[J]. 2025, 44(11): 47-51+56.
DOI：

ZHANG Yuanwei, YOU Jingjing, ZHANG Xianzhu. Study on sensitivity and static stiffness of parallel six-axis acceleration sensing mechanisms[J]. 2025, 44(11): 47-51+56. DOI：

摘要

六维加速度感知机构的灵敏度、静刚度的相关性尚不明确。为此，以5种典型的并联式六维加速度感知机构为例，构建了灵敏度和静刚度的解析模型，为构型综合及性能提升提供了理论指导。首先，建立并求解了系统的动力学及力协调方程，据此推导出灵敏度解析式；其次，运用速度基点法和虚功率原理，推导出机构的雅可比矩阵和静刚度矩阵，确定了静刚度评价指标，并分析了静刚度对参考点的依赖性；最后，对比分析了各构型的灵敏度和静刚度性能。结果表明：“6—6”型的角加速度灵敏度与转动静刚度负相关；“9—3”、“9—4”、“12—4”、“12—6”型的灵敏度与静刚度不相关；结构参数相同时，“12—4”型的综合性能最优；分别以线、角加速度灵敏度和静刚度为主性能时，应优先选取“9—3”、“6—6”和“12—4”型。

Abstract

The correlation between sensitivity and static stiffness of six-axis acceleration sensing mechanism is not clear.Thus

the analytical models are constructed based on five typical parallel six-axis acceleration sensing mechanisms

providing theoretical guidance for configuration synthesis and performance improvement.Firstly

the dynamic and force coordination equations of the system are established and solved

then analytical formulas of sensitivity are derived according to this.Next

the Jacobian matrix and stiffness matrix of the mechanism are derived based on velocity reference point method and the principle of virtual power

and the evaluation indexes of static stiffness are determined.Furthermore

dependency of stiffness on reference points is analyzed.Finally

the sensitivity and the static stiffness performances of each configuration are compared and analyzed.The result shows that the angular acceleration sensitivity and rotational stiffness of “6—6” type are negatively correlated; but sensitivity and rotational static stiffness are uncorrelated “9—3”

“9—4”

“12—4”

“12—6”;when the structural parameters are the same

“12—4”type comprehensive performance is the best;and if the linear acceleration sensitivity

the angular acceleration sensitivity or the static stiffness is taken as the primary performance

the “9—3”

“6—6” or “12—4” type should be selected as the priority

respectively.

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