CN101178306A - Six dimensions position attitude detecting device - Google Patents
Six dimensions position attitude detecting device Download PDFInfo
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- CN101178306A CN101178306A CNA2007101147427A CN200710114742A CN101178306A CN 101178306 A CN101178306 A CN 101178306A CN A2007101147427 A CNA2007101147427 A CN A2007101147427A CN 200710114742 A CN200710114742 A CN 200710114742A CN 101178306 A CN101178306 A CN 101178306A
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Abstract
The invention provides a sextuple location attitude sensor which includes a movable platform, a fixed platform and three fork chains connected between the movable platform and the fixed platform. The invention is characterized in that one end of a telescopic link in each fork chain is connected with the movable platform through a spherical hinge and the other end is connected with the fixed platform through two revolute pairs in turn. The telescopic link is provided with a straight-line displacement sensor. Both of the two revolute pairs are provided with an angle displacement sensor. The invention adopts a parallel mechanism as the main body component of the sensor and can simultaneously detect the three-dimensional position and the three-dimensional attitude variable. As the telescopic link and revolute pairs of each fork chain are provided with a detecting element, the position attitude of each fork chain at the end connected with the movable platform can be solved singly, thereby eliminating the inherent defect of complex normal solution of parallel mechanism kinematics and being capable of detecting a larger straight-line displacement amount and angle displacement amount. The invention is suitable for the occasions that need to simultaneously detect the positions and attitudes like multi-dimensional input device of computer and manual control lever for games.
Description
Technical field
The invention belongs to sensor field, specifically relate to a kind of six dimensions position attitude detecting device.
Background technology
Sensor technology is one of gordian technique of intelligent robotization, also is the important research content in computerized information field, has various sensors with different measuring abilities in the market, also has a lot of scholars this to be carried out extensive studies simultaneously.Adopt the sextuple power and the torque sensor of Stewart structure as people such as foreign scholar kerr and Nguyen, domestic also have some relevant patented technologies, as: direct output type robot four dimensional power and torque sensor (Chinese patent: CN1425903), a kind of sextuple power with elastic hinge and torque sensor (Chinese patent: CN1229915), six degree of freedom power and torque sensor (Chinese patent: CN2165435), parallel decoupling structure six-dimensional force and torque sensor (Chinese patent: CN1267822).Above-mentioned technology majority is used for detection power and moment, has therefore structurally adopted the core technology of jiggle robot, does not have the function that detects big straight-line displacement and angle displacement.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structure, excellent working performance, six dimensions position attitude detecting device that cost is low.Its technical scheme is:
A kind of six dimensions position attitude detecting device, comprise motion platform, stationary platform and be connected in motion platform and stationary platform between three side chains, it is characterized in that: every side chain includes expansion link, expansion link one end is connected with motion platform by ball pivot, the other end is connected with stationary platform by two revolute pairs successively, linear displacement transducer is installed on the expansion link, angle displacement sensor all is installed on two revolute pairs.
The pivot center of two revolute pairs is orthogonal on the described six dimensions position attitude detecting device, every side chain.
Described six dimensions position attitude detecting device, three side chains all constitute equilateral triangle with the tie point of motion platform and stationary platform respectively.
The present invention compared with prior art, adopt parallel institution as the sensor main body element, can detect three-dimensional position and 3 d pose variable simultaneously at three dimensions, owing on the expansion link of every side chain and revolute pair, all be provided with detecting element, therefore the position and attitude of every side chain connection motion platform end all can be found the solution separately, has eliminated the inherent defect of parallel institution forward kinematics solution complexity; Can detect big straight-line displacement amount and angle displacement amount; Be applicable to the occasion that computing machine multidimensional input equipment, game control handle etc. need detect simultaneously to position and attitude.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Among the figure: 1, motion platform 2, ball pivot 3, linear displacement transducer 4, expansion link 5,8, revolute pair 6, angle displacement sensor 7, stationary platform
Embodiment
In the embodiment shown in fig. 1: between motion platform 1 and stationary platform 7, be provided with three side chains, every side chain includes an expansion link 4, and expansion link 4 one ends are connected with motion platform 1 by ball pivot 2, the other end is connected with stationary platform 7 by revolute pair 5, revolute pair 8 successively, and the pivot center of revolute pair 5 and revolute pair 8 is orthogonal on every side chain, linear displacement transducer 3 is installed on the expansion link 4, on revolute pair 5 and the revolute pair 8 angle displacement sensor 6 is installed all.By linear displacement transducer 3 and angle displacement sensor 6 on three side chains of real-time detection, just can determine position and the attitude of motion platform 1 in the three-dimensional coordinate space.
Article three, when side chain constitutes equilateral triangle with the tie point of motion platform 1 and stationary platform 7 respectively, performance the best.
Claims (3)
1. six dimensions position attitude detecting device, comprise motion platform (1), stationary platform (7) and be connected in motion platform (1) and stationary platform (7) between three side chains, it is characterized in that: every side chain includes expansion link (4), expansion link (4) one ends are connected with motion platform (1) by ball pivot (2), the other end is connected with stationary platform (7) with second revolute pair (5) by first revolute pair (8) successively, expansion link (4) is gone up linear displacement transducer (3) is installed, and on second revolute pair (5) and first revolute pair (8) angle displacement sensor (6) is installed all.
2. six dimensions position attitude detecting device according to claim 1 is characterized in that: the pivot center of second revolute pair (5) and first revolute pair (8) is orthogonal on every side chain.
3. six dimensions position attitude detecting device according to claim 1 is characterized in that: three side chains all constitute equilateral triangle with the tie point of motion platform (1) and stationary platform (7) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101147427A CN100529658C (en) | 2007-11-22 | 2007-11-22 | Six dimensions position attitude detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101147427A CN100529658C (en) | 2007-11-22 | 2007-11-22 | Six dimensions position attitude detecting device |
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| Publication Number | Publication Date |
|---|---|
| CN101178306A true CN101178306A (en) | 2008-05-14 |
| CN100529658C CN100529658C (en) | 2009-08-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101147427A Expired - Fee Related CN100529658C (en) | 2007-11-22 | 2007-11-22 | Six dimensions position attitude detecting device |
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| CN (1) | CN100529658C (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101301753B (en) * | 2008-05-27 | 2010-06-02 | 中国科学院国家天文台南京天文光学技术研究所 | Oscillating arm type six-freedom-degree mechanism |
| CN102109851A (en) * | 2010-12-17 | 2011-06-29 | 中山市恒美风力能源科技有限公司 | Mechanical positioning and tracking device |
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN103144099A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Foldable, scalable and multifunctional operation platform |
| CN103417229A (en) * | 2013-08-06 | 2013-12-04 | 中国科学院深圳先进技术研究院 | X-ray imaging robot and mechanical arm thereof |
| CN104784831A (en) * | 2015-04-21 | 2015-07-22 | 苏州爱因智能设备有限公司 | Full-trajectory radiotherapy equipment |
| CN105127986A (en) * | 2015-10-20 | 2015-12-09 | 山东理工大学 | Decoupling type three-translation parallel robot |
| CN105291091A (en) * | 2015-11-11 | 2016-02-03 | 山东理工大学 | Three-translation and one-rotation parallel robot with plane pair |
| CN105424255A (en) * | 2015-11-11 | 2016-03-23 | 上海大学 | Combined four-dimensional force and torque sensor based on structure decoupling |
| CN107179233A (en) * | 2017-05-16 | 2017-09-19 | 中国建筑股份有限公司 | A kind of multidirectional measurement erecting device of displacement transducer |
| CN107199373A (en) * | 2017-05-31 | 2017-09-26 | 昆明理工大学 | A kind of 3DOF steel billet burr rejecting machine of vertical structure |
| CN107598902A (en) * | 2017-10-30 | 2018-01-19 | 天津工业大学 | A kind of six-degree-of-freedom parallel connection mechanism |
| CN108032281A (en) * | 2017-11-13 | 2018-05-15 | 歌尔股份有限公司 | 6-dof motion platform and electronic equipment |
| EP3416583A4 (en) * | 2016-02-17 | 2019-10-16 | Rowan University | Robotic systems and methods for minimally invasive orthopedic surgeries |
| CN114384094A (en) * | 2022-01-14 | 2022-04-22 | 深圳市物新智能科技有限公司 | Machine vision inspection equipment and method for PCB circuit welding spots |
-
2007
- 2007-11-22 CN CNB2007101147427A patent/CN100529658C/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101301753B (en) * | 2008-05-27 | 2010-06-02 | 中国科学院国家天文台南京天文光学技术研究所 | Oscillating arm type six-freedom-degree mechanism |
| CN102109851A (en) * | 2010-12-17 | 2011-06-29 | 中山市恒美风力能源科技有限公司 | Mechanical positioning and tracking device |
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN103144099A (en) * | 2013-03-19 | 2013-06-12 | 北京交通大学 | Foldable, scalable and multifunctional operation platform |
| CN103144099B (en) * | 2013-03-19 | 2016-01-13 | 北京交通大学 | A kind of collapsible scalable multifunctional operating platform |
| CN103417229A (en) * | 2013-08-06 | 2013-12-04 | 中国科学院深圳先进技术研究院 | X-ray imaging robot and mechanical arm thereof |
| CN103417229B (en) * | 2013-08-06 | 2015-04-22 | 中国科学院深圳先进技术研究院 | X-ray imaging robot and mechanical arm thereof |
| CN104784831A (en) * | 2015-04-21 | 2015-07-22 | 苏州爱因智能设备有限公司 | Full-trajectory radiotherapy equipment |
| CN105127986A (en) * | 2015-10-20 | 2015-12-09 | 山东理工大学 | Decoupling type three-translation parallel robot |
| CN105424255A (en) * | 2015-11-11 | 2016-03-23 | 上海大学 | Combined four-dimensional force and torque sensor based on structure decoupling |
| CN105291091A (en) * | 2015-11-11 | 2016-02-03 | 山东理工大学 | Three-translation and one-rotation parallel robot with plane pair |
| CN105424255B (en) * | 2015-11-11 | 2018-05-01 | 上海大学 | A kind of combined type four dimensional force and torque sensor based on structure decoupling |
| CN105291091B (en) * | 2015-11-11 | 2020-04-21 | 山东理工大学 | Three-translation one-rotation parallel robot with plane pair |
| EP3416583A4 (en) * | 2016-02-17 | 2019-10-16 | Rowan University | Robotic systems and methods for minimally invasive orthopedic surgeries |
| US10603122B2 (en) | 2016-02-17 | 2020-03-31 | Rowan University | Surgical robot |
| US11389256B2 (en) | 2016-02-17 | 2022-07-19 | Rowan University | Surgical robot |
| CN107179233A (en) * | 2017-05-16 | 2017-09-19 | 中国建筑股份有限公司 | A kind of multidirectional measurement erecting device of displacement transducer |
| CN107199373A (en) * | 2017-05-31 | 2017-09-26 | 昆明理工大学 | A kind of 3DOF steel billet burr rejecting machine of vertical structure |
| CN107598902A (en) * | 2017-10-30 | 2018-01-19 | 天津工业大学 | A kind of six-degree-of-freedom parallel connection mechanism |
| CN108032281A (en) * | 2017-11-13 | 2018-05-15 | 歌尔股份有限公司 | 6-dof motion platform and electronic equipment |
| CN114384094A (en) * | 2022-01-14 | 2022-04-22 | 深圳市物新智能科技有限公司 | Machine vision inspection equipment and method for PCB circuit welding spots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100529658C (en) | 2009-08-19 |
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Address after: Room 1012, building D, high tech garden, hi tech Industrial Development Zone, Shandong, Zibo Patentee after: Shandong University of Technology Address before: No. 12 Zhang Zhou road, Zhangdian District, Shandong, Zibo Patentee before: Shandong University of Technology |
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Granted publication date: 20090819 Termination date: 20111122 |