Telescopic parallel pull rod type device used for measuring spatial six-degree-of-freedom motion

Abstract

The invention discloses a telescopic parallel pull rod type device used for measuring a spatial six-degree-of-freedom motion, used for carrying out dynamic measurement on the spatial six-degree-of-freedom motion of a moving object. Six lower spherical hinges (2) are arranged on a fixed platform (1), a movable platform (7) provided with six upper spherical hinges (8) is arranged above the fixed platform (1), the upper spherical hinges (8) and corresponding lower spherical hinges (2) are connected by virtue of a telescopic pull rod (3) according to the shortest principle, and the telescopic pull rod (3) is provided with a displacement sensor (4); and the measured data is transmitted to a computer (15) by virtue of a network cable (14) by a network data acquisition card (13). The telescopic parallel pull rod type device disclosed by the invention adopts a parallel mechanism and has a simple structure, good rigidity, high precision and good stability; and measurement on the six-degree-of-freedom motion of the moving object is realized while original data and final data can be stored and read, thus an accurate data support is provided for analysis on a six-degree-of-freedom motion rule and a simulation test of the measured object in future.

Description

technical field [0001] The invention relates to a telescopic rod-type parallel device for measuring six-degree-of-freedom movement in space, which is used for dynamic measurement of six-degree-of-freedom mechanical movement in space at the same time. The six degrees of freedom include: three degrees of freedom movement displacements x(t), y(t), z(t) and three degrees of freedom movement angles θx(t), θy(t), θz(t). Background technique [0002] The movement of any object in space has 6 degrees of freedom, that is, the displacement x(t), y(t), z(t) along the three coordinate axes and the rotation angle θx(t) around the three coordinate axes , θy(t), θz(t). With the development of modern science and technology, higher requirements are put forward for the machining accuracy, installation accuracy and detection accuracy in many fields such as aerospace, military, machinery and instrumentation. The positioning of workpieces, the installation of precision parts, and the monitorin...

AI Technical Summary

Problems solved by technology

[0004] Accuracy is one of the main criteria for measuring measuring devices or methods, but at present, if a wire-type displacement sensor is used to measure the six-degree-of-freedom motion of the launching device, there will be a multi-degree-of-freedom coupling principle error, and high temperature and air waves will affect the length of the wire. Due to the influence of high-temperature air waves, air refraction fluctuations and smoke and dust, the measurement error based on machine vision is large, and it cannot adapt to the smoke and high temperature environment when rockets (missiles) are launched, or even cannot be used at all. ;A vibration acceleration sensor or a vibration velocity sensor is directly installed on the launch device, and the velocity or displacement is obtained through integration. This method is difficult to achieve multi-degree-of-freedom measurement, and the error is large due to high temperature, range, frequency response, and integration error; Use a three-axis gyroscope to measure the three-axis angular velocity in space, and integrate it into an angular displacement. This method cannot measure the three-axis displacement, and large errors are caused by the range, frequency response, and integration errors.

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