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Device for measuring spatial motion with six degrees of freedom and dynamic measuring method

A technology of measuring devices and degrees of freedom, applied in measuring devices, instruments, etc., can solve the problems of short life and low precision, and achieve the effects of reliable performance, large measuring space, and simple structure

Active Publication Date: 2012-09-26
CHONGQING UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, the measurement of six degrees of freedom in space mostly adopts the linear displacement measurement method. The linear displacement measurement method has relatively large friction and wear, and has disadvantages such as low precision and short life, and does not realize the simultaneous measurement of six degrees of freedom.

Method used

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  • Device for measuring spatial motion with six degrees of freedom and dynamic measuring method
  • Device for measuring spatial motion with six degrees of freedom and dynamic measuring method
  • Device for measuring spatial motion with six degrees of freedom and dynamic measuring method

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Embodiment Construction

[0047] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0048] Such as figure 1 As shown, the measurement device for six-degree-of-freedom motion in space is composed of a fixed platform 1, a Hooke hinge 2, a branch chain, a rotary encoder 5, a spherical hinge 9, and a moving platform 10. Among them, six Hooke hinges 2 are installed on the fixed platform 1, and the numbers are U 1 , U 2 , U 3 , U 4 , U 5 , U 6 , these six Hooke hinges 2 form a hexagon, the hexagon may be a regular hexagon or a non-regular hexagon, and the six corners may not be on the same plane. Preferably, in this embodiment, the fixed platform 1 is a regular hexagonal plate structure, the Hooke hinges 2 are installed at six corners of the fixed platform 1, and the six Hooke hinges 2 form a regular hexagon. A moving platform 10 is provided above the fixed platform 1, and six spherical hinges 9 are arranged on the moving platform 10, and t...

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Abstract

The invention discloses a device for measuring spatial motion with six degrees of freedom and a dynamic measuring method. A fixed platform (1) of the measuring device is provided with six Hooke hinges (2), and a moveable platform (10) is arranged above the fixed platform (1). The moveable platform (10) is provided with six ball hinges (9) which are respectively connected with the corresponding six Hooke hinges (2) through branched chains. A revolute joint (6) of each branched chain is provided with a spiral coder (5). The dynamic measuring method comprises the steps of establishing a coordinate system, measuring an angle-time curve of relative motion of upper and lower support rods of the revolute joint (6) by the spiral coders (5), so as to obtain the law of motion with the spatial six degrees of freedom of an object measured by a positive solution of the angle-time curve of the spiral coder (5) and the like. The device and the method not only measure the motion with the six degrees of freedom simultaneously, but also ensures the accuracy of measuring results, and have the characteristics of being good in flexible, strong in adaptation, wide in measuring range, high in accuracy and the like.

Description

technical field [0001] The invention relates to a measuring device and a dynamic measuring method for a six-degree-of-freedom movement in space, which utilizes a 6-URS parallel mechanism and a rotary encoder to dynamically measure the six-degree-of-freedom movement of a moving object in space. Six-degree-of-freedom motion in space includes three-degree-of-freedom motion displacement x(t), y(t), z(t) and three-degree-of-freedom rotation angle θ x (t), θ y (t), θ z (t), the motion displacement and rotation angle can be converted into motion speed, motion acceleration, rotation angular velocity, and rotation angular acceleration after differentiation. Background technique [0002] In modern industry, national defense and aerospace, the requirements for the dynamic measurement of six degrees of freedom in space are getting higher and higher, such as welding and assembly of large workpieces of aircraft or ships, parallel machine tools, submarine rescue docking in navigation, sp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B21/04G01B21/22
Inventor 谢志江张高峰尹兵江登林陈平宋代平雷钢孙小勇
Owner CHONGQING UNIV
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