一种用于测量球形关节三维旋转角度的新组合方法
Qianyun Yang1, Kai Ouyang1, Long Yang1
1Anhui Province Key Laboratory of Measuring Theory and Precision Instrument, School of Instrument Science and Opto-Electronic Engineering, Hefei University of Technology, Hefei 230009, China.
Sensors (Basel, Switzerland)
|January 11, 2024
概括
这项研究引入了一种新方法,可以使用霍尔和流传感器准确测量球形关节的3D旋转角度. 与以前的方法相比,这种结合方法显著提高了测量精度.
科学领域:
- 机械工程 机械工程
- 传感器技术 传感器技术
- 机器人技术 机器人技术 机器人技术
背景情况:
- 在球形关节中精确测量三维 (3D) 旋转角度对于机器人,生物力学和精密机械的应用至关重要.
- 现有的方法,如依赖球形编码的方法,往往在准确性和稳定性方面面临限制.
研究的目的:
- 开发一种新的,高精度的方法来测量球形关节的3D旋转角度.
- 提高测量稳定性,克服传统技术的局限性.
主要方法:
- 一种混合传感方法,将磁探测 (霍尔传感器) 和表面特征识别 (流传感器) 结合起来.
- 嵌入于球头的永久磁铁与插座中的霍尔传感器相互作用,以检测旋转.
- 球头上的槽,由流传感器识别,提供补充数据,以提高准确性和稳定性.
- 一个辐射基函数 (RBF) 神经网络被用来建立一个测量模型,整合来自两种传感器类型的数据.
主要成果:
- 与球形编码技术相比,拟议的方法显示了明显提高的测量准确性.
- 平均单轴测量误差减少了9'9′′.
- 对于3D旋转角度的根平均平方误差:斜率 (α) 1'8′′,斜率 (β) 2'15′′,和滚动 (γ) 29'6′′.
结论:
- 合并的霍尔和流传感器系统,加上RBF神经网络建模,为实时3D球形关节角度测量提供了可行和优质的解决方案.
- 这种创新方法为旋转传感应用提供了显著的精度和可靠性的进步.
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