Rigid Body 6-DOF Measurement Method Realized by Total Station without Leveling

doi:10.3901/JME.2019.24.028

Abstract

Abstract: The 6-DOF of rigid body is an important parameter of mechanical system. Its measurement can be applied to the verification of the theoretical model of kinematics and dynamics, and it can also be used as the dynamic analysis of the constraint reaction force of the known condition solving system. Aiming at the problem of high demand and complicated operation of the current 6-DOF measurement, a method for measuring the 6-DOF of the rigid body in the world coordinate system based on the total station instrument of the conventional surveying instrument is proposed, its characteristics are as follows:the six-degree-of-freedom measurement of rigid bodies can be achieved by total station's measuring a set of known control points in the world coordinate system (W coordinate system) and the body coordinate system (B coordinate system). and the total station does not need to be leveled during the measurement. Based on the matrix analysis method, the paper analyzes the principle of the 6-DOF method for the measurement of the total station, and proposes a mathematical model and combines the least squares method with the singular value decomposition to solve the model. Based on this, The complete application steps of this method. The SGT320E three-axis multi-function turntable and KTS460RM total station are used to verify the method, and related error analysis was carried out. The results show that the Euler angle accuracy (in the Z-Y-X rotation order) of the rigid body six-degree-of-freedom measurement by the total station is 2.73°, 3.424°, 2.344°, and the rigid body centroid position accuracy (in the X-Y-Z order) is 0.006 m, 0.013 m, 0.009 m, which proves the feasibility of the theoretical and practical application of the total station without leveling measurement method, and meet the measurement requirements of the 6-DOF of rigid body in multi-body mechanical systems.

Key words: 6-DOF measurement, total station, free leveling, rigid body, world coordinate system

CLC Number:

TH721

ZHAO Zuoxi, SONG Junwen, TAN Ting, LI Yuanhong, MA Kunpeng. Rigid Body 6-DOF Measurement Method Realized by Total Station without Leveling[J]. Journal of Mechanical Engineering, 2019, 55(24): 28-36.

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