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.