Mechanism with 6 DOF for position and orientation measurement

Xiaoliu Yu; Liuhuo Chu; Yuwan Cen; Ziwei Pan

doi:10.1117/12.521997

2 September 2003 Mechanism with 6 DOF for position and orientation measurement

Xiaoliu Yu, Liuhuo Chu, Yuwan Cen, Ziwei Pan

Proceedings Volume 5253, Fifth International Symposium on Instrumentation and Control Technology; (2003) https://doi.org/10.1117/12.521997
Event: Fifth International Symposium on Instrumentation and Control Technology, 2003, Beijing, China

Abstract

This paper shows a new 6-DOF mechanism. It can measure 6 coordinate parameters of the position and orientation of a moving platform. The mechanism is comprised of a serial mechanism for position measurement and a parallel mechanism for orientation measurement. It is dexterous for a redundant DOF and a balancing weight in vertical direction. The parallel mechanism is designed by mechanical synthesis in order to avoid difficulty of forward solution, and the orientation parameters of the moving platform are obtained by analytical expressions. Therefore, the 6-DOF parameter values of a moving platform can be displayed in real time. The workspace of the mechanism is obtained by graphology and analytical method. The measuring error is analyzed by error modeling. The design-parameter values for the architecture of the parallel mechanism are optimized.

Citation Download Citation

Xiaoliu Yu, Liuhuo Chu, Yuwan Cen, and Ziwei Pan "Mechanism with 6 DOF for position and orientation measurement", Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); https://doi.org/10.1117/12.521997

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