Study on structural parameters of a six-axis accelerometer for humanoid robot hand

In order to counteract disturbance by acceleration and ensure the grasp robustness of the multi-fingered robot hand, the paper presented a six-axis accelerometer used parallel mechanism as the structure of sensing element, established static mathematical model, deduced the expression of Jacobian for accelerometer. According to Jacobian, the important static characteristic indices were defined to optimize so many structural parameters, which were used to analyze the relationship between indices and structural parameters of sensing element. Based on the definition of the indices, the structural parameters were designed by the physical model of solution space. Applied to a computing example, the theoretical strain and experimental strain of each leg were acquired to verify the effectiveness of the method. Simultaneously, FEM simulation experimental results show that the six-axis accelerometer has the good dynamic characteristic for humanoid robot hand.