Kinematic Analysis Of The Sphere-Shaping Based On Trackabll System

The sphere skids easily in the shaping process because of the limitation of processing condition. So the sphere status should be tested in order to help the researcher optimize the parameter of processing technic.The trackball system is designed for testing the sphere status in the shaping process,which is based on the MEMS gyroscope and accelerometer. The data of angular velocity and accleration is fused into the angle and status of sphere.The main work and achievement as belows:(1)The circuit of the trackball system is designed according to the character of the gyroscope and accelerometer.(2)The quaternion algorithm is chosen by being compared with the Euler algorithm and direction cosine algorithm as its advantage of no-singular-ponit and calculation volume.(3)The error of MEMS gyroscope and accelerometer is compensated by building the mould of the gyroscope and accelerometer.The Allan Variance of the gyroscope descreased aftering using the Calman filter algorithm. The zero-point-error of accelerometer is controlled between the-4.5mg and4.5mg after temperature compensate.(4)The software is divided into two parts,the host computer software and lower computer software.The host computer software is based on the Labview software.The experiment of sphere-shaping is done by using the trackball system.The different conclusions are achieved by setting the different processing condition.The results show that the trail and status of sphere can be tested by the the trackball system accurately.