嵌入式智能球铰链设计及研制

doi:10.3901/JME.2017.20.001

机械工程学报 ›› 2017, Vol. 53 ›› Issue (20): 1-6.doi: 10.3901/JME.2017.20.001

• 仪器科学与技术 • 下一篇

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嵌入式智能球铰链设计及研制

胡鹏浩¹, 廖普¹, 路翼畅¹, 杨文国¹, 孟晓辰²

1. 合肥工业大学仪器科学与光电工程学院合肥 230009;
2. 北京信息科技大学仪器科学与光电工程学院北京 100192

收稿日期:2017-01-18 修回日期:2017-05-02 出版日期:2017-10-20 发布日期:2017-10-20
通讯作者: 胡鹏浩(通信作者),男,1968年出生,博士,教授,博士研究生导师.主要从事精密仪器设计与制造领域的研究.E-mail:hupenghao@hfut.edu.cn
作者简介:廖普,男,1993年出生.主要从事仪器仪表方面的研究.E-mail:2015170033@mail.hfut.edu.cn
基金资助:
国家自然科学基金(51475133)和北京市“光电测试技术”重点实验室开放(GDKF2016001)资助项目。

Design and Development of Embedded Intelligent Ball Hinge

HU Penghao¹, LIAO Pu¹, LU Yichang¹, YANG Wenguo¹, MENG Xiaochen²

1. The School of Instrumentation Science and Opto-electrical Engineering, Hefei University of Technology, Hefei 230009;
2. The School of Instrumentation Science and Opto-electrical Engineering, Beijing Information Science and Technology University, Beijing 100192

Received:2017-01-18 Revised:2017-05-02 Online:2017-10-20 Published:2017-10-20

摘要/Abstract

摘要： 精密球铰链在并联机构中应用广泛，但其在被动运动中，其回转方位及回转角无法自知。基于磁效应，提出一种霍尔传感器与永磁体组合的回转方位辨识及角度测量新方法。在球头上嵌入永磁体，在球窝上植入霍尔传感器阵列，当球头回转时，霍尔传感器阵列测量磁感应强度的变化，反解出角度信息。在完成理论建模、仿真计算和可行性试验的基础上，完成了嵌入式样机的研制。在实现信号冗余计算的基础上，优化了反解算法，基本实现了球铰链多维回转角度的实时测量。球铰链也从单纯的精密传动部件转变为集传动和感测为一体的综合智能部件。随研究的继续，其精度将有大幅提高，有望应用到精密工程中。

关键词: 等效磁荷, 霍尔传感器, 角度测量, 球铰链

Abstract: 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.

Key words: angle measurement, ball hinge, equivalent magnetic charge, hall sensor

中图分类号:

TH712

胡鹏浩, 廖普, 路翼畅, 杨文国, 孟晓辰. 嵌入式智能球铰链设计及研制[J]. 机械工程学报, 2017, 53(20): 1-6.

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.

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嵌入式智能球铰链设计及研制

Design and Development of Embedded Intelligent Ball Hinge

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