Development of a Mock-up Hardware and Software Prototype of an Information and Measurement System Based on MEMS-IMU Modules for Experimental Research of Articulated Machines

Abstract

The article presents the development stage of a mock-up hardware and software prototype of an information and measurement system (IMS) specifically designed for studying the dynamics of articulated-joint machines. Modern articulated vehicles consist of multiple modules (semi-frames) where the relative angular displacement significantly impacts controllability, stability, and structural loading. Unlike classical rigid machines, investigating articulated systems requires real-time monitoring of relative spatial positions without rigid mechanical links between measurement points.

The author highlights the limitations of commercial data acquisition systems, such as high costs, closed architectures, and lack of flexibility for specific research tasks. As an alternative, the research proposes an open-architecture system based on affordable MEMS (Micro-Electro-Mechanical Systems) technologies. The prototype’s hardware component utilizes the ATmega328 microcontroller (Arduino UNO V3 platform) and two MPU-6500 inertial measurement units (IMU). These sensors are spatially separated to allow placement on different semi-frames, enabling the collection of three-axis linear acceleration and angular velocity data.

The software ecosystem of the developed prototype leverages the Arduino IDE for low-level firmware tasks and Python 3.12 for high-level data processing and visualization. This combination provides a powerful, license-free alternative to expensive commercial packages like MATLAB or LabVIEW. A specialized Graphical User Interface (GUI) was developed, featuring twelve iterations of refinement to ensure effective data logging and analysis. The GUI includes two operational modes: a real-time Registration mode for live monitoring and an Analysis mode for comprehensive post-processing.

The implemented signal processing algorithms include time-domain analysis for transient response evaluation, frequency-domain analysis using Fast Fourier Transform (FFT) for vibration study, and drift estimation to account for inherent MEMS sensor errors. A critical functional feature is the calculation of the relative angle ($Δθ$) between the two IMU modules, which serves as the primary informative parameter for analyzing the kinematic changes in articulated mechanical systems.

Experimental tests of the prototype in both static and dynamic conditions confirmed the reliability of the hardware and the accuracy of the software algorithms in detecting subtle mechanical perturbations. The study concludes that the developed mock-up provides a solid methodological and technical foundation for a future full-scale IMS complex intended for testing modular road-building machines. Future work includes expanding the system with 20 information channels, including strain gauges for reaction measurement at each wheel and structural stress analysis.