Kinematics Model and Acceleration Simulation Algorithm for a Three-Axis Centrifuge

Dynamic acceleration simulation on three-axis centrifuge is important to test some precision instruments' performance under high G-load conditions. In order to select proper kinematic parameters to carry out dynamic acceleration simulations, a desired G-load curve is symmetrically constructed so that the kinematic parameters could be calculated inversely. First, the centrifuge system's kinematics model is established through the motion synthesis method and matrix rotation method. Then, kinematic parameters' calculation formulas are derived based on the kinematics modeling. The rotation angle, angle velocity and angle acceleration of each revolute joint are obtained by recursive method. To verify the algorithm, the G-load generated by RecurDyn, which uses the algorithm's results as input, is contrasted with the desired G-load. The result shows that the algorithm is viable and the maximum absolute error is less than 0.1g.