吕勇, 冯其波, 刘立双, 耿蕊, 吴思进. 基于多准直光的六自由度测量方法[J]. 红外与激光工程, 2014, 43(11): 3597-3602.
引用本文: 吕勇, 冯其波, 刘立双, 耿蕊, 吴思进. 基于多准直光的六自由度测量方法[J]. 红外与激光工程, 2014, 43(11): 3597-3602.
Lv Yong, Feng Qibo, Liu Lishuang, Geng Rui, Wu Sijin. Six-degree-of-freedom measurement method based on multiple collimated beams[J]. Infrared and Laser Engineering, 2014, 43(11): 3597-3602.
Citation: Lv Yong, Feng Qibo, Liu Lishuang, Geng Rui, Wu Sijin. Six-degree-of-freedom measurement method based on multiple collimated beams[J]. Infrared and Laser Engineering, 2014, 43(11): 3597-3602.

基于多准直光的六自由度测量方法

Six-degree-of-freedom measurement method based on multiple collimated beams

  • 摘要: 提出了一种利用三个CCD探测三路准直光束位置以实现被测物六自由度测量的方法.测量系统包括两部分:一个反射镜和通过连接杆连接的两个CCD为移动部分,固接在被测物上;固定部分的光源、光开关和三个光学准直器产生三路准直光束.其中两路分别投射到两个CCD上,第三路经移动部分的反射镜反射回并由第三个CCD探测.被测物发生六自由度变化时,移动部分同步变化,三个CCD探测的光斑位置也随之变化,通过特定算法可解算出被测物六自由度运动.构建了一个可以表征六自由度测量特性的四自由度测量系统.测量结果表明:在相应测量范围内,与双频激光干涉仪或光电自准直仪测量值相比,系统偏摆角最大差值为1.27,滚转角最大偏差为1.03,两个平动位移最大偏差均小于1 m.

     

    Abstract: Using 3 CCDs to detect the position changes of 3 collimated beams, a six-degree-of-freedom measurement method was presented. The measurement system consisted of two parts. A mirror and two CCDs that were connected together by a link rod form the moving part. It was fixed to and moving along with the measured object. A light source, an optical switch and three optical collimators of the fixed part emitted 3 collimated beams. Two collimated beams projected on two CCDs respectively. The third one was reflected back by the mirror and captured by the third CCD. Six-degree-of-freedom motion of the measured object led to the synchronous change of the moving part, resulting in position changes of 3 light spots on CCDs. Then with a set of algorithms, the six-degree-of-freedom motion of the measured object can be calculated based on these position changes. A four-degree-of-freedom measurement system, which can manifest the characteristics of six-degree-of-freedom measurement, was built and experimental tests were carried out. Within the corresponding measurement range, compared with the results of the dual-frequency laser interferometer and photoelectric auto-collimator system, the maximum deviations of yaw and roll in this system are 1.27 and 1.03, and that of two translational movements are less than 1 m.

     

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