Hits:

Indexed by:Journal Papers

Date of Publication:2015-06-02

Journal:Manufacturing Technology & Machine Tool

Included Journals:PKU、ISTIC

Issue:6

Page Number:61-66

ISSN No.:1005-2402

Key Words:PSD;binocular vision;ATC;trajectory tracking measurement

Abstract:The future complex working environment requires the space manipulator of automatic equipments which must have accurate terminal accuracy and space attitude control. However, some reasons, for example, the manipulator assembling gap and the bearing deformation cause deviations between the real position and the theoretical calculation of the terminal actuators. Therefore, to achieve the trajectory tracking measurement of manipulator becomes a will-be solved problem. This paper which combines the characteristics of the photo sensitive positioning detector and principles of binocular visual measurement develops a non-contact three-dimensional measuring system based on double PSDs ( position sensitive detector) which can measure the trace of a space motion target point light source and is used in the angle displacement and axial displacement test on the machining center and ATC. The job which has been done is an exploring which includes real-time on-line measurement of motion trajectory of a point target on the complex mechanism, rapid measurement of space position and attitude of robot's terminal actuator.