基于球面磁场编码的空间回转角度辨识原理及关键技术研究

项目名称： 基于球面磁场编码的空间回转角度辨识原理及关键技术研究

项目编号： No.51475133

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 胡鹏浩

作者单位： 合肥工业大学

项目金额： 84万元

中文摘要： 精密球铰链是机器人、并联机构的重要运动部件，其空间回转方位角的实时精密检测缺乏新方法。本项目基于球面磁场编码的新思想即在不影响球铰链结构、性能的前提下，在球铰链内部嵌入磁传感器和永磁体阵列实现空间回转角度的测量。 基于电磁场理论研究测量模型，揭示永磁体结构、性能参数、空间分布与空间磁场的内在联系实现磁编码；研究信号细分策略，传感器冗余信息最优拾取等问题提高分辨率；完成全误差分析和建模，设计误差分离和解耦的测试方法，最终实现传感器标定和误差补偿以保障精度。所研制的样机应能达到或超过如下技术指标：测量范围：±30 ，测量精度30″，分辨率6″。 此项研究将实现球铰链的智能化且结构简单、性能可靠，诠释了嵌入式在位测量结构与检测一体化的现代精密机械设计理念，对于提高机器人及并联机构精度、优化控制策略等具有重要价值。随着精度的提高，有望直接替代关节坐标测量机的关节和圆光栅，简化仪器结构。

中文关键词： 传感技术；磁场编码；球铰链；并联机构；数据融合

英文摘要： Precision spherical joint is a key movement execution unit in robotics, parallel mechanism. When it works in passive motion, Its arbitrarily rotation angle can not be determined or known. This proposal provides a measuring principle and method with a combination of multiple sensor array and permanent magnet array, which are embedded in joint without any bad effect on mechanical properties and original structure. Measuring model will be founded with theory analysis, the optimal spatial location of permanent magnet and magnetic parameters will be achieved, so the magnet encoding will be realized on the spherical surface. With study of the strategy of signal subdivision and the redundancy information picking of Hall sensor array, resolution will be promoted. Completing extensive error analysis and full error modeling, devising testing method for error separation and decoupling will pave the way for sensor calibration and error compensation, so the measuring accuracy will be achieved and improved. the developed sensor prototype should be able to meet or exceed the following technical index: measuring range: ±30 ,accuracy: 30sec, resolution: 6sec. This study will realize spherical joint intelligence with simple structure and reliable performance as well as interpret a modern precision mechanical design concept which means realizing integration of mechanical parts and sensor. It will give a new way to improve the accuracy of robot and parallel mechanism, and provide control convenience. With improvement of accuracy, it will be expected to occupy in portable CMM arms substituting the universal joint and the angular grating, which can greatly simplify the structure of instrument.

英文关键词： sensing technology;magnetic encoding;spherical joint;parallel mechanism;data fusion