| Summary: | In this paper, the motion characteristics and non-ideal dynamics of a stereoscopic symmetrical quadruple hair gyroscope (SSQHG) are explored. The device description and operating principle of SSQHG are briefly interpreted. Based on a simplified mass-spring-damping model, the motion characteristics of SSQHG under different excitation methods (anti-phase drive, in-phase drive and single mass drive) are deduced, and the angular velocity mechanical sensitivity of SSQHG is subsequently calculated. The effects of electrostatic force error, mass error and stiffness error on structural dynamics are analyzed in detail. Finite element method (FEM) simulations are implemented to verify the correctness of proposed dynamic model. The simulation results show a highly consistency with theoretical analysis. Finally, the frequency response and angular velocity sensitivity experiments are performed on two fabricated prototypes. The experimental results confirm that the inevitably non-ideal errors of prototypes lead to distinct performance difference. The kinematic analysis methodology of SSQHG presented in this paper is suitable for other quadruple mass gyroscopes (QMG).
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