球铰链的多维回转角度测量方法研究综述

Review of multi-dimensional angular displacement measurement method for spherical joint

球铰链具有结构紧凑、运动灵活和承载能力强等优点,是一种应用较普遍的多自由度机械关节,其回转角度的检测对系统运动误差预测分析、反馈和控制具有十分重要的意义。首先介绍球铰链的应用与结构特点,然后分析球铰链多维回转角度的测量需求,对国内外球铰链多维角度检测的相关研究发展进行综述,主要包括基于结构解耦测量、基于光学原理测量和基于磁场理论测量等方法。最后,对球铰链多维回转角度测量的研究现状进行总结,指出了其研究的重点、难点以及关键技术突破面临的挑战。

Spherical joint is a commonly multi-degree-of-freedom mechanical hinge which has many advantages such as compact structure, good flexibility, and high carrying capacity. Realization of its multi-dimensional angular displacement measurement is of great significance in the prediction, feedback, and control of the system motion error. Firstly, the application of spherical joint and its structural characteristics were presented in the paper. Then, the motion description of the spherical joint and needed angles for measurement were analyzed. A review of multi-dimensional angular displacement measurement method, including structural decoupling detection method, optical-based detection method and magnetic-field-based detection method, at home and abroad was provided, Finally, the development of research on multi-dimensional angular displacement measurement method for spherical joint was summarized. The focus and the difficulty of the research were pointed out, and the challenges and the breakthroughs in the key technologies were also stated.