부산대학교 도서관

In this paper, the mechatronic structure of a 2-degree of freedom (DOF) open chain mechanism is described. Mechanism Designed for generating completely known motion in the MEMS accelerometers. After using preprocessing techniques the outputs of accelerometer and forward kinematics algorithm are chosen as the measures to determine the uncertainty extent of the mechanism. Two major uncertainties are assumed to be present in the end-effector and the joint located between two links. In order to determine the values of the uncertainties a cost function based on the difference between the output of the accelerometer and forward kinematics algorithm is minimized. According to the obtained experimental results of the optimization problem based on the numerical solution, the fitness of the forward kinematics algorithm to the real accelerometer data is enhanced from 72.98% to 84.91%. Simple structure, low uncertainty and easy manufacturing are the important merits of the proposed passive calibration mechanism.