基于光学测量技术的球形电机位姿检测方法研究

Research on Position and Posture Detection Method of Spherical Motor Based on Photoelectric Detection Technology

为解决现有球形电机检测系统结构复杂、成本较高的问题,提出了一种基于光学测量的非接触式检测技术。分别在球形转子和定子上布置环形光源和硅光电池阵列,转子带动环形光源偏转导致硅光电池阵列上光斑面积发生变化,从而影响输出电流。建立了短路电流与位姿角的数学模型,并搭建实验平台,对球形主动关节转子进行轨迹规划,实验表明,该方法能实现球形转子位姿的准确测量,位姿角误差控制在0.45°以内。研究结果对转动刚体的位姿检测和空间定位具有理论与实用价值。

In order to solve the problem of complicated structure and high cost of the existing spherical motor detection system, a non-contact detection technology based on optical measurement is proposed.An annular light source and a silicon photocell array are arranged on the spherical rotor and the stator respectively, and the deflection of the annular light source by the rotor causes a change in the spot area on the silicon photovoltaic array, thereby affecting the output current. The mathematical model of short-circuit current and pose angle is established, and the experimental platform is built to plan the trajectory of the spherical active joint rotor. Experiments show that the method can accurately measure the pose of the spherical rotor, and the attitude angle error is controlled within 0.45°. The research results have theoretical and practical value for the pose detection and spatial positioning of the rotating rigid body.