Device and method for precisely measuring the position and orientation of a six-degree-of-freedom parallel mechanism dynamic platform

Abstract

The invention belongs to the technical field of measuring equipment, in particular relates to a device and a method for accurately measuring position and posture of a six-degree-of-freedom parallel mechanism movable platform. The device and the method for accurately measuring the position and posture of the six-degree-of-freedom parallel mechanism movable platform aim at solving the problems thatthe position and posture measuring instrument of the six-degree-of-freedom parallel mechanism movable platform in the prior art has high cost and low measuring precision and the requirement of high precision measurement of the position and posture in special occasions cannot be met. The invention provides a device and a method for accurately measuring the position and posture of the six-degree-of-freedom parallel mechanism movable platform. The device and the method for accurately measuring the position and posture of the six-degree-of-freedom parallel mechanism movable platform comprises a large-load six-degree-of-freedom parallel mechanism, a high-precision six-degree-of-freedom parallel mechanism driven by piezoelectric ceramics, a connector connected between the two and a controller. When the large-load six-degree-of-freedom parallel mechanism moves, the position and posture of the high-precision parallel mechanism are adjusted and measured according to the numerical value fed backby the connector, so that the movable platform of the high-precision parallel mechanism moves along with the movable platform of the large-load parallel mechanism, and the position and the posture ofthe large-load six-degree-of-freedom parallel mechanism are calculated. According to the device and the method for accurately measuring the position and posture of the six-degree-of-freedom parallelmechanism movable platform, the cost is low, the measuring precision is high, and the practicability is high.

Description

technical field [0001] The invention belongs to the technical field of measuring equipment, and in particular relates to a device and method for precisely measuring the position and posture of a six-degree-of-freedom parallel mechanism dynamic platform. Background technique [0002] The large-load six-degree-of-freedom parallel mechanism is often used in industries such as industry, aerospace, and ships. The position and attitude of a six-degree-of-freedom parallel mechanism generally refers to the position and attitude of its moving platform relative to the fixed platform, and those skilled in the art usually refer to it as pose for short. Precise measurement of position and attitude is important for some applications. There are several commonly used ways to measure the position and attitude: (1) Use the six-degree-of-freedom parallel mechanism to drive the branch chain to obtain the length of the drive branch chain by its own sensor, for example, use the position obtained...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above problems in the prior art, that is, in order to solve the high cost and low measurement accuracy of the position and attitude measuring instruments of the six-degree-of-freedom parallel mechanism dynamic platform in the prior art, it cannot meet the high-precision measurement of position and attitude in some special applications. To meet the requirements of the problem, the present invention provides a device for precisely measuring the pose of a six-degree-of-freedom parallel mechanism actuation platform

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