A Decoupled Vibratory Gyroscope using a Mixed Micro-machining ...

95 downloads 159 Views 2MB Size Report
MEMS Lab., S&C Sector, Samsung Advanced Institute of Technology (SAIT). San #14, P. O. Box #111, Suwon, 440-600, Korea. * Phone : +82-31-280-9258, Fax ...
Proceedings of the 2001 IEEE International Conference on Robotics & Automation Seoul, Korea • May 21-26, 2001

              

             !

"

#$

%& '( )&### *   + '),

 -./ 0! 1! 2 -...

3 //4544 $            !"  #$$"$"%"&'(") )  $ !& )"   " %" $ ' & $& )" " " * "&"   "  )% %     " & ' % $" ' &)& ' " $" (" &&&("&")$" &  "  "  ("  (  $"$& %" $'$ "&'("))  $ ! ' &  &  "   $"  '    " (  ) "(  & !  "  $" #"&) )(  (" & %" $ '  #"" &  &")&&("+ '"&,- # %" $   )% (   °.  & &'& ( /  # $  "%  '  0±°. (     # $" $" $ ( )""% %" $  &   (   "  " " & & "("("%''&((")"& *( " "  $$&   )" " "  $"  1" ("  # $   "$"&  " ( "% "(" ' ' &((" )" & # & & 1" ("  '   $"$"   &"  ( $$& " " &  )" ( " "   &$  $ )%"&#"&    &&& $(& & &-&  ("&) $ 

  

  

 

  

   !" 0-7803-6475-9/01/$10.00© 2001 IEEE

3412

2+34&3 4& "" & &1" ("  & 1" ("  & & &$  (" ))""%%" $"$ )%  = Ω  ×                               34 ∆ = Ω

   ω

           3 4





 

 ω ω  − ω  ) +       



           ≅ Ω     ω ≈ ω     

 ω 



'" ∆    &$  &   1" ("  Ω     $$& " "    1" ("       ) % ( )"      &") ("      "  &      ω   ω   "     +% ( " &  " ("+ %   &") &  & "$ )% 5 '  + 3 4  "&"  $")  )% (  )""%%" $ "% " ("+ % ( &") 3% 4 &  3- 4 & & $"  %" $  )  (" )% $( %(+%( " # ("("+ % $"("& % "  (( " "&  & " ("+ % ,')"  %" $   $"  &") &  & '  & $(( !%" $'  (  ("+    # "&   $ ((   & $& $" " "    "& $" ("  &") &  & &"& 5     $& &"  & (  )  $ ! 5 )  $ !  6267 "   (& %&)& $ ! & '(" ) $ ! * "  " &     (  " - '"    ("  &   """   ("" " "  &(("  '  &)& & '(")) $ !  $

Vacuum Packaged Sample 14 2.5[] 1472.5[

& "& # )" + (  %" $ ) "&")(" 3  4"('

 

   +    +    =                   3 4 θ +  θ +  =                     384

  

   

θ



4&)&$ !  4'(")$ !  # !"$ %    !$$& "!'  !" 

  ( ()

    



             



   

 

"  &  "  (  "  "$ )% 5& : & : " &$ ((  &  $"  (    & "$ )% # θ    "+   "  & & % 1"(" 9") %3 Ω  4$$&   %" $ &  ("+  ( &") &  & "  %  3 ω  = ω  ≅ ωθ 4  " θ '"&"

* "  )""% %" $ '  )% '  &") &  & ("+  "  %  ,')"  %" $     $"   &") &  & ' " )" '  &(("  ( &")&&("+ ""   # "&   & $ ((   " (""(" '&")& & '%&&%" $&$&$"(" &")&&  

θ

'"   &  "("("&

Lid : NiNi-Fe

Ceramic Case : Al2O3 / CuCu-Ag

θ



θ = Ω ω 

 θ   θ

∫ 

               34

'"   & θ  " ; ( " (  &") & &"$ )% "  & (  %" $ 26 &   & (" $"&   ("+  &  &("&$(&")&&" 8 '  " ( 5 > E F D ? 7$"! 7 ? I"&    5 16A7 *"& 7"(  6 " & 5" ? 7"J *: 5 ) 5$$  > *" 1("   7& 7 7" & 5 ""1 *@H/ $  8> E F H 5 G 5   @' 1 G%" $% 7& 7 7" & 5 "" 9"!$ , ,& 71("H $K8  E8F 16 7 6H E/F 7 D 5 = 7 A   D 5 %" $ ' 1 $ D   "  *222 6267 9"!$,&"G"%$ K

  E>F L= "! , 7 H   @" G%" $ 7$&& % #' G " , 5$  ?2 #"& "M@N75$/ />  E F 77B!=7ABH,57%"  I 5 G%" $ ' 5 , 5$  ? N 7$ 5&