Precision ball hinges are widely employed in parallel mechanisms, but its rotation orientation and angle can not be known in its passive motion. Measurement of multi-dimensional angular displacement will be very of great significance in the prediction, feedback and control of motion errors of parallel mechanism. Based on the magnetic effect, a new method to identify the orientation and rotation angle with Hall sensors array matched by permanent magnet is proposed. The basic idea is embedding a permanent magnet in the ball head and several hall sensors are distributed in the ball socket. When the ball head carrying the permanent magnet rotates together, the Hall sensors array will detect the variation of magnetic induction intensity, and then the angle information can be calculated by mathematics model. An embedded prototype is developed after finishing the theoretical modeling, simulation calculation and feasibility experiment, the real-time measurement of the spherical hinge rotation angle has been realized and improved by optimizing the inverse algorithm and the signal redundancy calculation. Therefore, the ball hinge has evolved into an intelligent component integrated with transmission and sensing function. As the research continues, its accuracy will be greatly improved, and can be applied to precision engineering in the future.
HU Penghao
,
LIAO Pu
,
LU Yichang
,
YANG Wenguo
,
MENG Xiaochen
. Design and Development of Embedded Intelligent Ball Hinge[J]. Journal of Mechanical Engineering, 2017
, 53(20)
: 1
-6
.
DOI: 10.3901/JME.2017.20.001
[1] 胡鹏浩,张建坤,马晓庆,等. 3-PUU并联测量机滑块运动误差分析[J]. 机械工程学报,2015,51(18):1-6. HU Penghao, ZHANG Jiankun, MA Xiaoqin, et al. Analysis of slider motion error on 3-PUU parallel coordinate measuring maching[J]. Journal of Mechanical Engineering, 2015, 51(18):1-6.
[2] ZHAO Peng, HU Penghao. Analysis and experimental study of the spherical joint clearance[C/CD]//6th International Symposium on Precision Mechanical Measurements,Proc. Of SPIE Vol.8916, 89160E, Guiyang, 2013, 8.8-8.12.
[3] HOMER L E, PAUL A F. Coordinate measurement machine with Improved Joint:US,8336220B2[P]. 2012-12-25.
[4] STEIN D, SCHEINERMAN E R, CHIRIKJIAN G S. Mathematical models of binary spherical-motion encoders[J]. Mechatronics, IEEE/ASME Transactions on Mechatronics, 2003, 8(2):234-244.
[5] DANNY V L, STEVEN A V. Analysis and experimental verification of a three-dimensional noncontacting angular motion sensor[J]. IEEE/ASME Transactions on Mechatronics, 2007, 12(6):612-622.
[6] LEE K M, SON H, PARK J K. Design analysis of a spherical magnetic bearing for multi-DOF rotational stage applications[C]//ASME 2007 International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2007:785-792.
[7] HU Penghao, WANG Li, ZHU liang, et al. A measuring method for ball joint spatial rotation angle[J]. ICMT, 2015, 27(4):341-349.
[8] YANG Linghui, YANG Xueyou, ZHU Jigui, et al. Novel method for spatial angle measurement based on rotating planar laser beams[J]. Chinese Journal of Mechanical Engineering, 2010,23(6):758-764.
[9] 高海波,梁忠超,丁亮,等. 具有解耦功能的二维倾角模拟装置[J]. 机械工程学报,2012,48(19):1-9. GAO Haibo, LIANG Zhongchao, DING Liang, et al. Imitation device of 2-dimesional inclination with function of kinematics decoupling[J]. Journal of Mechanical Engineering, 2012, 48(19):1-9.
[10] 胡鹏浩,李帅鹏,赵鹏,等. 可实现回转角度测量的球铰链及测量方法:中国,201310502930.2[P]. 2014-01-22. HU Penghao, LI Shuaipeng, ZHAO Peng, et al. A measuring rotation angle methods for ball hinges:China,201310502930.2[P]. 2014-01-22.
[11] 李帅鹏. 智能球关节的测量原理及关键技术研究[D].合肥:合肥工业大学, 2014. LI Shuaipeng. Measurement principle and research on key technologies of Intelligent ball joint[D]. Hefei :Hefei University of Technology,2014.
[12] 胡鹏浩,刘善林. 精密球铰链间隙测量仪及测量方法:中国,201210081297.X[P]. 2012-07-25. HU Penghao, LIU Shanlin. Measuring instrument and measuring method for precision ball hinge gap:China, 201210081297.X[P]. 2012-07-25.
[13] 吴旭东. 基于霍尔传感器阵列和OpenGL技术的三维恒定磁源定位系统[D]. 重庆:重庆大学,2008. WU Xudong. 3-D tracking system for the micro medical devices in the human body based on the hall effect sensor array and OpenGL technology[D]. Chongqing :Chongqing University, 2008.
[14] 审屠南瑛. 地下位移测量方法及理论研究[D]. 杭州:浙江大学,2013. SHENTU Nanying. Research on methods and theories for measuring underground displacement[D]. Hangzhou:Zhejiang University, 2013.
