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Measurement Principle and Research on Key Technologies of Intelligent Ball Joint

Author: LiShuaiPeng
Tutor: HuPengHao
School: Hefei University of Technology
Course: Precision instruments and machinery
Keywords: Intelligent ball joint Spherical joint Measurement principle Calibration device prototype
CLC: TP274
Type: Master's thesis
Year: 2014
Downloads: 3
Quote: 0
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Abstract


Precision spherical joint and ball joint are key moving parts of robot, parallelmechanism, parallel machine tools and parallel measuring machine, have been workingin these area very extensively. If the rotation angle of ball pivot in any direction in spacecan be detected in real time, it will be of great benefit to motion control of sphericaljoint and compensation of clearance error. Without affecting kinematic accuracy andmechanical property of ball joint, and without destroying the structure of ball joint, thispaper developed an intelligent ball joint based on magnetic effect, rotation angle andmotion direction of which can be detected in real time. If the study gets a breakthroughin accuracy and resolution, it will have very broad application prospects, not confined tothe field of robot and parallel mechanism, applied to the field where the rotation angleof multi-dimensional movement needs to be measured.Based on the structure of intelligent ball joint, the prototype is designed in this paper.The prototype consists of the structure of intelligent ball joint and calibration device.The spatial position matching of permanent magnet and sensor is accomplished in thestructure according to magnetic field of the permanent magnet and detection area of thesensor, and the mathematical model of measurement principle is established usingmagnetic field theory and coordinate transformation matrix. The calibration device cansimulate the movement of ball joint and calibrate the measured angle calculated by thesensor signal. According to the system design of the prototype, hardware and softwaredesign of test system is completed.After experimental detection and data analysis, the average error of α is1.1°, and theaverage error of β is0.74°, here the components α and β in the range of-15°~15°. Whenα and β both change in the range of-9°~9°, the average error of α is0.78°, the averageerror of β is0.42°. When the rotation angle is relatively small, compared to the expectedmeasurement precision of intelligent ball joint, measurement error of prototype is stillrelatively large. There is still a long way to go in the field of practical application ofprecision machinery. The main error sources of the prototype need to be analyzed tooptimize the system structure, and the measurement accuracy is further improved byerror model and error correction.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Data processing, data processing system
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