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Proceedings Paper

Mechanism with 6 DOF for position and orientation measurement
Author(s): Xiaoliu Yu; Liuhuo Chu; Yuwan Cen; Ziwei Pan
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Paper 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.

Paper Details

Date Published: 2 September 2003
PDF: 5 pages
Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); doi: 10.1117/12.521997
Show Author Affiliations
Xiaoliu Yu, Anhui Univ. of Technology (China)
Liuhuo Chu, Anhui Univ. of Technology (China)
Yuwan Cen, Anhui Univ. of Technology (China)
Ziwei Pan, Anhui Univ. of Technology (China)


Published in SPIE Proceedings Vol. 5253:
Fifth International Symposium on Instrumentation and Control Technology
Guangjun Zhang; Huijie Zhao; Zhongyu Wang, Editor(s)

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