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Three-dimensional coordinate transmission method for four-degrees-of-freedom space to six-degrees-of-freedom space

A three-dimensional coordinate and space coordinate system technology, applied in the field of space measurement, can solve the problems of technical complexity, technical difficulty, construction cost increase, engineering application difficulty, weak economic strength, etc., and achieve considerable economic and social benefits.

Active Publication Date: 2019-03-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In practical engineering applications, six degrees of freedom can fully describe the motion state of an object, and the construction of a six-degree-of-freedom measurement and control system can meet the engineering needs of most fields. However, compared with a four-degree-of-freedom system, the six-degree-of-freedom system achieves Technical complexity, technical difficulty, and construction costs will all increase significantly, which is not conducive to popularization and application, especially for some small-scale and weak economically powerful enterprises, it is difficult to realize engineering application

Method used

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  • Three-dimensional coordinate transmission method for four-degrees-of-freedom space to six-degrees-of-freedom space
  • Three-dimensional coordinate transmission method for four-degrees-of-freedom space to six-degrees-of-freedom space
  • Three-dimensional coordinate transmission method for four-degrees-of-freedom space to six-degrees-of-freedom space

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Embodiment 1

[0028] Such as figure 1 As shown, a three-dimensional coordinate transfer method from a four-degree-of-freedom space to a six-degree-of-freedom space according to the present invention includes the following steps:

[0029] (1) The three-dimensional coordinates (x p ,y p ,z p ), the rotation angle θ of the vertical axis of the four-degree-of-freedom space coordinate system h , reference motion coordinate system o k x k the y k z k origin o k The length d of the line connected to the origin o of the four-degree-of-freedom space coordinates and the angle θ between it and the vertical axis z ,Such as figure 2 shown;

[0030] (2) Through the coordinate transfer matrix A(θ h ,θ z ,d), the coordinates of the field point P (x p ,y p ,z p) from the four-degree-of-freedom space to the reference motion coordinate system o k x k the y k z k , to obtain the field point P in the reference motion coordinate system o k x k the y k z k The three-dimensional coordinates...

Embodiment 2

[0042] The technical scheme adopted in the present invention is: a three-dimensional coordinate transfer method from a four-degree-of-freedom space to a six-degree-of-freedom space, comprising the following steps:

[0043] (1) The three-dimensional coordinates (x p ,y p ,z p ), the rotation angle θ of the vertical axis of the four-degree-of-freedom space coordinate system h , The length d of the line connecting the origin of the reference motion coordinate system to the origin of the four-degree-of-freedom space coordinates and its angle θ with the vertical axis z ;

[0044] (2) Through the coordinate transfer matrix A(θ h ,θ z ,d), the field point coordinates (x p ,y p ,z p ) from the four-degree-of-freedom space to the reference motion coordinate system to obtain the three-dimensional coordinates of the field point in the reference motion coordinate system (x p_k ,y p_k ,z p_k );

[0045] (3) According to the angle of rotation around the vertical axis of the refe...

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Abstract

The invention discloses a three-dimensional coordinate transmission method for a four-degrees-of-freedom space to a six-degrees-of-freedom space and belongs to the field of space measurement. The method comprises the steps that three-dimensional coordinates of a field point in a four-degrees-of-freedom space coordinate system, a rotation angle theta h of the vertical axis of the four-degrees-of-freedom space coordinate system, the length of an original point of a reference motion coordinate system and an original point o of the four-degrees-of-freedom space coordinate system and an included angle between the original point and the vertical axis of the reference motion coordinate system are measured; according to a coordinate transmission matrix, the coordinates of the field point are transmitted to the reference motion coordinate system from the four-degrees-of-freedom space; according to a rotation angle theta z of a vertical axis of the reference motion coordinate system, a real-timemotion coordinate system is obtained, and the coordinates of the field point are transmitted from the reference motion coordinate system to the real-time motion coordinate system; finally, by changing the angle values of theta h and theta z, total space expression of the six-degrees-of-freedom space is obtained. According to the method, the aim is achieved that the function of a complex six-degrees-of-freedom system is achieved on the basis of a four-degrees-of-freedom system; the four-degrees-of-freedom system achieves the function of the six-degrees-of-freedom system through low cost, and the enforceable technology stage is executed.

Description

technical field [0001] The invention relates to the field of space measurement, in particular to a three-dimensional coordinate transfer method from a four-degree-of-freedom space to a six-degree-of-freedom space. Background technique [0002] The four-degree-of-freedom measurement and control platform is a necessary equipment widely used in many technical fields at present, such as indoor bench test platform, pool test equipment installation platform, equipment measurement test platform, etc. However, with the continuous improvement of measurement and test requirements, the The measurement and control platform with more degrees of freedom puts forward more urgent demands. In practical engineering applications, six degrees of freedom can fully describe the motion state of an object, and the construction of a six-degree-of-freedom measurement and control system can meet the engineering needs of most fields. However, compared with a four-degree-of-freedom system, the six-degre...

Claims

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Application Information

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IPC IPC(8): G01B21/00G06F17/16
CPCG01B21/00G06F17/16
Inventor 朱建军王文彤李海森梁景然白嵩魏波马晶鑫
Owner HARBIN ENG UNIV