Six-degree-of-freedom absolute pose measuring device based on quasi-zero stiffness

Abstract

The invention discloses a six-degree-of-freedom absolute pose measuring device based on quasi-zero stiffness. The six-degree-of-freedom absolute pose measuring device comprises a reference platform, ato-be-measured platform, a pose resolver and six quasi-zero stiffness supporting legs of the same structure. Currents in opposite directions are respectively supplied to a lower end coil and an upperend coil, at the moment, two coils generate an electromagnetic field in the surrounding space, the electromagnetic field interacts with the magnetic fields of the lower magnet and the upper magnet togenerate electromagnetic rigidity opposite to rigidity of the spring, and the rigidity of the spring and the electromagnetic negative rigidity are mutually counteracted, so the rigidity of the wholesupporting leg is close to zero rigidity; when the to-be-tested platform moves in the space, the motion cannot be transmitted to the reference platform, so the reference platform is in a static state;at the moment, deformation of the six supporting legs can be measured through the laser displacement sensors, six sets of deformation are input into an pose resolver, and the displacement and attitude of the to-be-measured platform can be solved through kinematics positive solution of the six-degree-of-freedom device.

Description

technical field [0001] The invention relates to the technical field of absolute displacement measurement, in particular to a six-degree-of-freedom absolute pose measurement device based on quasi-zero stiffness. Background technique [0002] Absolute displacement measurement is widely used in industrial production lines, precision engineering and scientific research. In the field of active vibration control, many feedback methods have been widely used. Among them, absolute position feedback can eliminate low-frequency vibration and improve the robustness to external interference. The reason is that the vibration isolation system based on absolute displacement feedback has low vibration transmissibility and low dynamic compliance. Usually position feedback is achieved by measuring the absolute displacement of a load or equipment. Researchers have come up with several methods for measuring the absolute motion of an object, including integrating the acceleration or velocity sig...

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Problems solved by technology

However, the measuring device must be fixed on a stationary object before the measurement is complet

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