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Measurement of Resultant Acceleration of a Moving Object in 3-D Space Based on Sensing Position of A Metallic Ball Rolling in a Spherical Shell

基于金属球在球壳内滚动的位置传感测量 3D 空间运动物体的合成加速度

基本信息

批准号：
14550413
负责人：
OKADA Tokuji
金额：
$ 2.37万
依托单位：
NIIGATA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

项目摘要

This research is concerned with a smart acceleration sensor which makes it possible to give equilibrium sense on a object moving in a 3-d space. Actually, we have developed a sensor which can measure resultant acceleration of motion and gravity in 3D space based on sensing a metallic ball position on elastic layer located at inside of a spherical shell. Construction of different types of elastic layers by silicon rubber is introduced and their displacements against pressure are calculated by using the Hertz' law. Since the resultant acceleration makes the ball roll toward the direction to find a balanced position in the shell, the center position of the metallic ball is the target to be pursued. The elastic layer is concentric to the shell and liable to distort so that three proximity sensors of high-frequency oscillation type can detect ball sink against pressure. We show measurement principle of extracting the acceleration by using the characteristics of the sink versus pressure. Experimental results are shown and compared among various rubbers to have the most appropriate design of the sensor. These data are important for making specifications of the spherical acceleration sensor. We got practical data such that angular error less than 7.4[deg] ; amount error less than 0.097[m/s^2] : force sensitivity 0.089[N] ; insensible range less than 6.1[deg] with almost no vibration.

本研究系关于一种智慧型加速度感测器，其可使在三维空间中移动之物体具有平衡感。实际上，我们已经开发了一种传感器，它可以测量合成的运动加速度和重力在3D空间的基础上感测位于球壳内部的弹性层上的金属球的位置。介绍了硅橡胶弹性层的结构形式，并利用赫兹定律计算了其受压位移。由于合成加速度使球朝着在壳体中找到平衡位置的方向滚动，因此金属球的中心位置是要追求的目标。弹性层与外壳同心，易于变形，因此三个高频振荡型接近传感器可以检测球的压力下沉。给出了利用下沉对压力的特性提取加速度的测量原理。实验结果显示，并在各种橡胶之间进行比较，以获得最合适的传感器设计。这些数据对于制定球加速度传感器的技术指标具有重要意义。我们得到了实际数据，角误差小于7.4[deg] ;量误差小于0.097[m/s^2];力灵敏度0.089[N] ;无感范围小于6.1[deg]，几乎没有振动。