Stewart platform supporting leg length-measuring apparatus, and Stewart platform pose-testing system and method

A length measurement and platform technology, applied in the field of simulation, can solve the problems of affecting test accuracy, large integral error, high-precision gyroscope, etc.

Inactive Publication Date: 2016-01-13
PEOPLES LIBERATION ARMY ORDNANCE ENG COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] ② There is a large integral error in the attitude obtained by angular velocity integration, and the integral error will gradually accumulate with the increase of time, affecting the test accuracy;
[0015] ③ High-precision gyroscopes are very expensive and cost-effective

Method used

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  • Stewart platform supporting leg length-measuring apparatus, and Stewart platform pose-testing system and method
  • Stewart platform supporting leg length-measuring apparatus, and Stewart platform pose-testing system and method
  • Stewart platform supporting leg length-measuring apparatus, and Stewart platform pose-testing system and method

Examples

Experimental program
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Effect test

Embodiment 1

[0098] Embodiment 1 Stewart platform outrigger length measuring device

[0099] A kind of Stewart platform outrigger length measuring device, the structure is as follows figure 1 As shown, it is used to measure the expansion and contraction of the outrigger of the Stewart platform, including a fixed fixture, a pull-wire displacement sensor 4, and a calibration rod 3.

[0100] The fixing fixture includes a first clamping part 1 fixed on the outrigger piston, and a second clamping part 2 fixed on the outrigger sleeve.

[0101] The first clamping part 1 includes a first bracket 11 and a first clamping plate 12 . The first bracket 11 is provided with a first cable fixing hole 13 and a first alignment hole 14 . After the first bracket 11 and the first splint 12 are fixed, the central part has a first through hole for the piston to pass through.

[0102] The second clamping part 2 includes a second bracket 21 and a second clamping plate 22 . The second bracket 21 is provided wit...

Embodiment 2

[0107] Embodiment 2 Stewart platform pose test system

[0108] A Stewart platform pose test system, which includes six sets of Stewart platform outrigger length measuring devices provided in Embodiment 1, as well as a data acquisition instrument and a general processor system.

[0109] Stewart platform outrigger length measuring devices are respectively fixed on the six outriggers of the Stewart platform. The output end of the outrigger length measuring device of the Stewart platform is connected with the input end of the data acquisition instrument, and the data acquisition instrument is used to receive the length change signal of the outriggers collected by each pull-wire displacement sensor 4, and the output end of the data acquisition instrument is connected with the total processing The input end of the computer system is connected, and the general processor system is used to receive the signal transmitted by the data acquisition instrument, and calculate the signal, and fi...

Embodiment 3

[0110] Embodiment 3 Stewart platform pose test method

[0111] A kind of Stewart platform pose testing method, it realizes based on the system of embodiment 2, carries out according to the following steps sequence:

[0112] A. Install Stewart Platform Outrigger Length Measuring Device

[0113] On six legs of the Stewart platform, the Stewart platform leg length measuring device described in embodiment 1 is installed respectively; The installation steps are carried out in the following order:

[0114] ①The Stewart platform is locked at the lowest horizontal position to ensure that the length of the six outriggers is at the shortest state. At this time, the length of the outriggers of the Stewart platform is The length of each leg is known and equal, ie l 1 = l 2 = l 3 = l 4 = l 5 = l 6 =L 0 ;

[0115] ②Pre-fix the first clamping part 1 and the second clamping part 2 on the piston and sleeve of the outrigger respectively;

[0116] ③Insert the calibration rod 3 into th...

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Abstract

The invention discloses a Stewart platform supporting leg length-measuring apparatus, and a Stewart platform pose-testing system and method. The Stewart platform supporting leg length-measuring apparatus comprises a fixing clamp and a displacement sensor for measuring the telescoping amount of a supporting leg. The fixing clamp comprises a first clamping portion fixed on a supporting leg piston and a second clamping portion fixed on a supporting leg sleeve; and the displacement sensor is fixed on the second clamping portion. The Stewart platform supporting leg length-measuring apparatus can measure real-time lengths of supporting legs in the movement process of a Stewart platform, and has the advantages of simple structure and high cost performance, thereby being applied to measurement of the telescoping amount of the supporting legs of the Stewart platform at a certain time point. The Stewart platform pose-testing method can solve a real-time pose of the Stewart platform in the movement process according to measured lengths of the supporting legs by use of a value calculation method, thereby being suitable for measurement of the real-time pose of the Stewart platform in the movement process.

Description

technical field [0001] The invention belongs to the technical field of simulation and simulation, and relates to a Stewart six-degree-of-freedom platform, in particular to a Stewart platform outrigger length measuring device, and a Stewart platform pose testing system and method. Background technique [0002] The Stewart platform mechanism was proposed by Stewart in 1965. It is the most iconic parallel mechanical device in the field of automation and belongs to the space multi-ring parallel mechanism. The Stewart platform is mainly composed of an upper platform, a lower platform and six telescopic outriggers. Each component can be regarded as a rigid body, and its motion can also be regarded as a rigid body motion. The two ends of each support leg are respectively connected with the upper platform and the lower platform through two ball joints or a ball joint at one end and a universal joint at one end. Stewart platform outriggers usually adopt a sleeve-piston structure, th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B21/02G01B21/00G01B21/22
Inventor 汪伟邓士杰陈海龙唐力伟张晓涛王平于贵波苏续军
Owner PEOPLES LIBERATION ARMY ORDNANCE ENG COLLEGE
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