Integrated structure of parallel driving mechanism moving platform pose measurement system

Abstract

The invention discloses an integrated structure of a parallel driving mechanism moving platform pose measurement system. The integrated structure of the parallel driving mechanism moving platform pose measurement system comprises a connecting rod, an outer frame, a middle frame, a middle shaft, a frame shaft and a frame shaft plug. The outer frames are connected through connecting rods; the middle frame is connected with the outer frame through a frame shaft, and the middle frame can rotate around the shaft; the middle shaft is connected with the middle frame through a frame shaft, the middle shaft can rotate around the frame shaft, and a hollow structure is arranged at the bottom of the middle shaft; the installation surfaces of the displacement sensors and the center shafts are orthogonal to the outgoing lines of the displacement sensors, and the rotation center of the center shaft located in the center and the connection lines between the rotation centers of the other three center shafts are orthogonal in pairs to form a Cartesian coordinate system. The structure reduces the installation error when the linear displacement sensor is used.

Description

technical field [0001] The invention belongs to the field of position and attitude detection of a drive platform, and in particular relates to an integrated structure of a parallel drive mechanism dynamic platform position and attitude measurement system. Background technique [0002] The measurement of dynamic displacement and attitude in three-dimensional space is of great significance in many fields such as aerospace and vehicle vehicles. The existing technology generally adopts the principles of laser tracker, infrared, high-speed camera, inertial measurement unit and other principles for spatial positioning, but the above positioning method is easily subject to serious environmental interference (such as aiming problems, electromagnetic interference) in a production environment with harsh working environment. The measurement scheme based on the pull-wire displacement sensor can meet the high-precision and wide-range measurement requirements, and is suitable for continuo...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an integrated structure of the position and attitude measurement system of the dynamic platform of the parallel drive mechanism. By combining the linear displacement sensor with the gyroscope frame principle, on the premise of easily realizing the deflection of the cable, it solves the problem in the prior art. When continuously measuring the dynamic displacement and attitude of an object, the measurement structure cannot make the measurement base point of the displacement sensor form an orthogonal coordinate system, and the pull wire of the displacement sensor cannot pass through the straight line where the base point is when moving, so two technical problems that cannot meet the calculation requirements

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