Forward and Inverse Dynamics of a Six-Axis Accelerometer Based on a Parallel Mechanism

Area of Science:

• Mechanical Engineering
• Robotics
• Sensor Technology

Background:

• Solving dynamic equations for six-axis accelerometers is crucial for calibration and optimization.
• Existing methods struggle with the complex nonlinear coupling in these systems.

Purpose of the Study:

• To comprehensively solve the forward dynamic equations (FDEs) and inverse dynamic equations (IDEs) of six-axis accelerometers.
• To develop a new strategy for enhancing the practicability of six-axis accelerometers.

Main Methods:

• Utilized the Newton-Euler method to construct dynamic equations in configuration space.
• Derived vibration differential equations (VDEs) using generalized momentum and Hamiltonian functions.
• Developed an explicit recursive algorithm for solving quaternions in phase space.

Main Results:

• Established FDEs by integrating coordination and dynamic equations.
• Derived IDEs from VDEs and Newton-Euler equations.
• Achieved relative errors of 2.21% for FDEs and 7.65% for IDEs in experimental validation.

Conclusions:

• The presented method successfully solves the FDEs and IDEs for six-axis accelerometers.
• This research offers a novel approach to improve the practical utility of these sensors.