System for measuring poses of tail ends of six-foot positioning platforms in real time

Abstract

The invention relates to the technical field of measurement equipment, in particular to a system for measuring poses of tail ends of six-food positioning platforms in real time. The system comprises amovable platform, a fixed platform and six flexible grating ruler measurement rods. The system can be used for six-dimensional pose closed-loop control of large-scale six-degree of freedom positioning platforms in large-scale adjustment processes; when the movable platform moves to a certain pose, the pose of the movable platform is calculated in real time through length change values of the sixgrating ruler measurement rods; and the system adopts a gapless spline track and a spline shaft to realize axial flexible motion of the grating ruler measurement rods and limit spinning motion of thegrating ruler measurement rods so as to ensure high measurement precision. The grating ruler measurement rods are follower rods which can be elongated or shortened along with the pose change of the movable platform, does not bear pressure caused by high load of the movable platform and can decrease the measurement precision change caused by stress deformation, thereby further ensuring the high-precision pose measurement of the movable platform.

Description

technical field [0001] The invention relates to the technical field of measuring equipment, in particular to a real-time measurement system for the end pose of a hexapod positioning platform. Background technique [0002] The future 3m-level space optical payload has the characteristics of large size, high precision, and difficulty in testing and verification. These characteristics will bring great difficulties to the optical detection of the optical remote sensor, especially the optical detection of the whole machine. According to the experience of the spacecraft R&D process, the time of assembly and testing generally accounts for about 30% to 50% of the entire spacecraft R&D cycle, especially for optical loads, the efficiency of optical inspection and assembly directly affects the development cycle and cost of the entire model. [0003] Therefore, it is necessary to develop a six-degree-of-freedom high-precision special turntable to meet the optical detection and assembly...

AI Technical Summary

Problems solved by technology

These characteristics will bring great difficulties to the optical detection of optical remote sensors, especially the optical detection of the whole machine.

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