A New Method for Measuring the Rotational Angles of a Precision Spherical Joint Using Eddy Current Sensors

Sensors
Penghao HuYi Hu

Abstract

Precision spherical joint is a spherical motion pair that can realize rotation with three degrees of freedom. This joint is widely used in robots, parallel mechanisms, and high-end medical equipment, as well as in aerospace and other fields. However, the rotation orientation and angle cannot be determined when the joint is in passive motion. The real-time determination of the rotation orientation and angle is crucial to the improvement of the motion control accuracy of the equipment where the joint is installed in. In this study, a new measurement method that utilizes eddy current sensors is proposed to identify the special features of the joint ball and realize angle measurements indirectly. The basic idea is to manufacture the specific shape features on the ball without affecting its movement accuracy and mechanical performance. An eddy current sensor array is distributed in the ball socket. When the ball head rotates, the features on the ball opposite to the sensor, as well as the output signal of every eddy current sensor, change. The measurement model that establishes the relationship between the output signal of the eddy current sensor array and the rotation direction and angle of the ball head is constructed by learning ...Continue Reading

Software Mentioned

ANSYS Maxwell
MATLAB
LabVIEW
GRNN

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