IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0802949
(2010-06-17)
|
등록번호 |
US-8453512
(2013-06-04)
|
발명자
/ 주소 |
- Sasso, Felix T.
- Chung, Walter H.
- Shishido, John A. L.
|
출원인 / 주소 |
- The Aerospace Corporation
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
5 인용 특허 :
10 |
초록
▼
A shaker for enabling the testing of gyros and/or other devices for performance under realistic 6DOF motions. The shaker may be implemented as a hexapod, comprising a plate and six individually, simultaneously, and real-time controllable strut assemblies that are capable of extending and contracting
A shaker for enabling the testing of gyros and/or other devices for performance under realistic 6DOF motions. The shaker may be implemented as a hexapod, comprising a plate and six individually, simultaneously, and real-time controllable strut assemblies that are capable of extending and contracting linearly. The strut assemblies may comprise high-precision, linear electromagnetic actuators. The strut assemblies may also comprise high-precision non-contact sensors to sense the extension/contraction of the strut assemblies along their stroke length. In addition, the strut assemblies may comprise, at each end thereof, stiff, bendable flexures to attain the repeatable and linear motion required. The controller preferably has a control bandwidth of 1000 Hz or more, so that the motion of the plate can be precisely controlled to realize realistic 6DOF motions.
대표청구항
▼
1. A shaker comprising: a programmable control circuit;a plate;at least one base assembly; anda plurality of strut assemblies connected between the plate and the at least one base assembly, wherein each strut assembly comprises: an electromagnetic actuator for extending and contracting the strut ass
1. A shaker comprising: a programmable control circuit;a plate;at least one base assembly; anda plurality of strut assemblies connected between the plate and the at least one base assembly, wherein each strut assembly comprises: an electromagnetic actuator for extending and contracting the strut assembly along a linear stroke length based on a control signal from the programmable control circuit;a non-contact position sensor for sensing a stroke position of the strut assembly along the linear stroke length, wherein an output of the non-contact position sensor is input to the programmable control circuit;an upper, bendable flexure comprising a first end portion that is non-pivotably connected to the strut assembly and a second end portion that is non-pivotably connected to the plate, and wherein the upper, bendable flexure further comprise a thick cylindrical portion and a thin essentially cylindrical stem portion that is coaxial with the thick cylindrical portion, wherein the thin cylindrical stem portion is bendable due to extension of the strut assembly connected to the upper, bendable flexure;a lower, bendable flexure comprising a first end portion that is non-pivotably connected to the strut assembly and a second end portion that is non-pivotably connected to the at least one base assembly, and wherein the lower, bendable flexure further comprise a thick cylindrical portion and a thin essentially cylindrical stem portion that is coaxial with the lower thick cylindrical portion, wherein the lower thin cylindrical stem portion is bendable due to extension of the strut assembly connected to the lower, bendable flexure;wherein the programmable control circuit has an output connected to each of the electromagnetic actuators of the plurality of strut assemblies for individually controlling extension and contraction of the plurality of strut assemblies along the respective linear stroke length based on the outputs from the non-contact position sensors of the plurality of strut assemblies so that the plurality of strut assemblies individually follow a desired motion path with six degrees of freedom, wherein the programmable control circuit has a control bandwidth for the strut assemblies that is 1000 Hz or greater. 2. The shaker of claim 1, wherein the plurality of strut assemblies comprises six (6) strut assemblies. 3. The shaker of claim 1, wherein each electromagnetic actuator comprises a voice coil actuator. 4. The shaker of claim 1, wherein each non-contact position sensor comprises an eddy current position sensor. 5. The shaker of claim 1, wherein each non-contact position sensor comprises an optical encoder. 6. The shaker of claim 1, wherein each non-contact position sensor comprises a capacitive sensor. 7. The shaker of claim 1, wherein: the thin cylindrical stem portion of the upper, bendable flexure comprises a thin, metallic stem portion having a radius of 0.20 inches or less; andthe thin cylindrical stem portion of the lower, bendable flexure comprises a thin, metallic stem portion having a radius of 0.20 inches or less. 8. The shaker of claim 7, wherein the thin cylindrical stem portion of the upper, bendable flexure comprises a parabolic profile. 9. The shaker of claim 8, wherein the thin cylindrical stem portion of the lower, bendable flexure comprises a parabolic profile. 10. The shaker of claim 1, wherein the linear stroke length of each electromagnetic actuator is 0.10 inches or less. 11. The shaker of claim 1, wherein the plate comprises: an upper flat surface; anda lower surface, wherein the lower surface is connected to the plurality of strut assemblies. 12. A shaker for shaking an object according to a desired object motion sequence, the shaker comprising: a programmable control circuit;a top plate having an upper, flat surface and a lower surface, wherein the object is positionable on the upper, flat surface;six base assemblies; andsix strut assemblies connected to the lower surface of the top plate, wherein each strut assembly comprises: an electromagnetic actuator for extending and contracting the strut assembly along a linear stroke length based on a control signal from the programmable control circuit;a non-contact position sensor for sensing a stroke position of the strut assembly along the linear stroke length, wherein an output of the non-contact position sensor is input to the programmable control circuit;an upper, bendable flexure comprising a first end portion that is non-pivotably connected to the strut assembly and a second end portion that is non-pivotably connected to the plate, and wherein the upper, bendable flexure further comprise a thick cylindrical portion and a thin essentially cylindrical stem portion that is coaxial with the thick cylindrical portion, wherein the thin cylindrical stem portion is bendable due to extension of the strut assembly connected to the upper, bendable flexure;a lower, bendable flexure comprising a first end portion that is non-pivotably connected to the strut assembly and a second end portion that is non-pivotably connected to one base assembly, and wherein the lower, bendable flexure further comprise a thick cylindrical portion and a thin essentially cylindrical stem portion that is coaxial with the lower thick cylindrical portion, wherein the lower thin cylindrical stem portion is bendable due to extension of the strut assembly connected to the lower, bendable flexure;wherein the programmable control circuit has an output connected to each of the electromagnetic actuators of the strut assemblies for individually controlling extension and contraction of the strut assemblies along the respective linear stroke length based on the outputs from the non-contact position sensors of the strut assemblies so that the strut assemblies individually follow a desired motion path with six degrees of freedom, thereby shaking the object according to the desired object motion sequence, wherein the programmable control circuit has a control bandwidth for the strut assemblies that is 1000 Hz or greater. 13. The shaker of claim 12, wherein each electromagnetic actuator comprises a voice coil actuator with a linear stroke length that is 0.10 inches or less. 14. The shaker of claim 13, wherein each non-contact position sensor comprises an eddy current position sensor. 15. The shaker of claim 13, wherein each non-contact position sensor comprises an optical encoder. 16. The shaker of claim 13, wherein each non-contact position sensor comprises a capacitive sensor. 17. The shaker of claim 13, wherein: the thin cylindrical stem portion of the upper, bendable flexure comprises a thin, metallic stem portion having a radius of 0.20 inches or less, and wherein the thin stem portion of the upper, bendable flexure comprises a parabolic profile; andthe thin cylindrical stem portion of the lower, bendable flexure comprises a thin, metallic stem portion having a radius of 0.20 inches or less, and wherein the thin stem portion of the lower, bendable flexure comprises a parabolic profile. 18. A method of testing a fiber optic gyroscope, comprising: vibrating the fiber optic gyroscope with a shaker while the fiber optic gyroscope is positioned on a platform of the shaker, the shaker comprising: a programmable control circuit;a top plate on which the fiber optic gyroscope is positioned;at least one base assembly; anda plurality of strut assemblies connected between the top plate and the at least one base assembly, wherein each strut assembly comprises: an electromagnetic actuator for extending and contracting the strut assembly along a linear stroke length based on a control signal from the programmable control circuit;a non-contact position sensor for sensing a stroke position of the strut assembly along the linear stroke length, wherein an output of the non-contact position sensor is input to the programmable control circuit;an upper, bendable flexure comprising a first end portion that is non-pivotably connected to the strut assembly and a second end portion that is non-pivotably connected to the top plate, and wherein the upper, bendable flexure further comprise a thick cylindrical portion and a thin essentially cylindrical stem portion that is coaxial with the thick cylindrical portion, wherein the thin cylindrical stem portion is bendable due to extension of the strut assembly connected to the upper, bendable flexure;a lower, bendable flexure comprising a first end portion that is non-pivotably connected to the strut assembly and a second end portion that is non-pivotably connected the at least one base assembly, and wherein the lower, bendable flexure further comprise a thick cylindrical portion and a thin essentially cylindrical stem portion that is coaxial with the lower thick cylindrical portion, wherein the lower thin cylindrical stem portion is bendable due to extension of the strut assembly connected to the lower, bendable flexure;wherein the programmable control circuit has an output connected to each of the electromagnetic actuators of the plurality of strut assemblies for individually controlling extension and contraction of the plurality of strut assemblies along the respective linear stroke length based on the outputs from the non-contact position sensors of the plurality of strut assemblies so that the plurality of strut assemblies individually follow a desired motion path with six degrees of freedom, wherein the programmable control circuit has a control bandwidth for the strut assemblies that is 1000 Hz or greater; andmeasuring performance of the fiber optic gyroscope in response to the vibrating. 19. The method of claim 18, wherein: the plurality of strut assemblies comprises six (6) strut assemblies; andeach electromagnetic actuator comprises a voice coil actuator. 20. The method of claim 19, wherein each non-contact position sensor comprises a differential eddy current position sensor.
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