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Spherical hinge movement direction measuring method based on spherical capacitor

A spherical hinge and measurement method technology, applied in the field of measurement, can solve problems such as installation space and working environment limitations, research scheme limitations, complex construction systems, etc., and achieve the effects of compact structure, reduced installation space requirements, and high measurement accuracy.

Active Publication Date: 2014-11-05
HANGZHOU DIANZI UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] These detection methods need to build a complex system, which is limited by the installation space and working environment in practical applications, and requires a large investment. The research program has obvious limitations.

Method used

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  • Spherical hinge movement direction measuring method based on spherical capacitor
  • Spherical hinge movement direction measuring method based on spherical capacitor
  • Spherical hinge movement direction measuring method based on spherical capacitor

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Embodiment Construction

[0022] Such as figure 1 and 2 As shown, a method for measuring the motion orientation of a spherical hinge based on spherical capacitance, the first spherical cap sensor electrode E1 is arranged at the bottom of the ball head Q1 of the spherical hinge, and the second spherical capacitive electrode E1 is arranged at the bottom of the ball socket Q2 Electrode E2; the corresponding central angle between the center and edge of the spherical cap of the first spherical capacitive sensing electrode E1 and the second spherical capacitive electrode E2 is α=60°. Due to the structural limitation of the spherical hinge, the value range of the angle ψ between the output rod to be measured and the positive direction of the z-axis generally does not exceed 60°, so the effective range of the first spherical capacitive sensing electrode and the second spherical capacitive electrode The detection area is large enough to meet the measurement requirements.

[0023] Such as image 3 As shown, t...

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Abstract

The invention discloses a spherical hinge movement direction measuring method based on a spherical capacitor. The existing spherical hinge degree-of-freedom testing method needs construction of a complex system, and the related technology is not mature. An absolute rotary encoder measures the angle at which an output rod rotates around the axis thereof; the forward included angle between the output rod and a vertical shaft is solved according to the effective overlap area between a first spherical crown-shaped sensing capacitor electrode at the bottom of a ball head and a second spherical crown-shaped sensing capacitor electrode at the bottom of a ball socket; and the included angle between the projection of the output rod on the horizontal plane and a horizontal shaft is solved according to a fourth spherical crown-shaped capacitor electrode with the largest capacitance, capacitance change between the fourth spherical crown-shaped capacitor electrode and a corresponding third spherical crown-shaped capacitor electrode, and the serial numbers of arc sensing capacitor electrodes of which the capacitances are not equal to zero. According to the method, the three degrees of freedom of movement of a spherical hinge are solved based on the principle in which the change of area between polar plates of a spherical capacitor causes change of output capacitance. The algorithm is simple.

Description

technical field [0001] The invention belongs to the technical field of measurement, and in particular relates to a method for measuring the motion orientation of a spherical hinge based on spherical capacitance. Background technique [0002] With the rapid development of modern industry, spherical hinges have the characteristics of flexible rotation, space mechanism movement and force transmission, and are widely used in robots, coordinate measuring machines, electronic mechanical equipment, medical equipment, auto parts and other fields. The spherical hinge is a key component in the system transmission, and the measurement of its motion space angle is beneficial to the feedback control and compensation of the system transmission, and is of great significance for improving the transmission accuracy of the system and the working performance of the whole machine. [0003] Spherical hinge motion is a typical multi-degree-of-freedom motion. Compared with single-degree-of-freedo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D5/24G06F19/00G01P13/02
Inventor 王文张敏卢科青范宗尉袁科杰诸丽燕
Owner HANGZHOU DIANZI UNIV
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