固定式スチュワートプラットフォーム構造に基づくセンサの開発(G15-1 センシング・認識,G15 ロボティクス・メカトロニクス部門)

概要

論文の詳細を見る
In this report, we propose the detector of space vector based on the Fixed Stewart Platform. Since six measurement units are arranged in parallel and the parallel structure represented on the Stewart platform, the errors in each measurement axis is not accumulated Our aim is, focused to measure the components of spatial vector, so we proposed the structure composed without movable links. It resulted the ease of the solving calculation, and we described the constructing method and the calculating solution from each link parameters. In order to confirm the validity of proposed sensor, the acceleration and angular acceleration vector sensor was manufactured, and the measurement errors of it were evaluated. The produced sensor base is composed of two plates with same diameter and six pillars. When the triaxial acceleration data was measured as comparing with the performance of atypical commercial product, and the validity of our sensor was confirmed.
一般社団法人日本機械学会の論文
2004-09-04