Design of a Maximally Regular Acceleration Sensor Based on Generalized Gough-Stewart Platforms

An analytical formulation and a new routine are presented to design a maximally regular acceleration sensor based on a generalized Gough-Stewart platform. The Jacobian matrix considering the measuring point is constructed symbolically and also acceleration mapping matrix done. Optimal indices and coupling evaluation are proposed to qualify performances of the sensor. Subsequently, the singular values of the acceleration Jacobian matrix are solved analytically to evaluate acceleration transmission. The conditions for the maximally regular acceleration are expressed in close-form. Based on the analytical formulation, an optimal design routine is put forward to determine a family of orthogonal and maximally regular acceleration sensor. With the aid of numerical examples, the acceleration-coupling is investigated and the results illustrate that the proposed design method is effective.