Technical Paper
Measurement of the Spatial Rotation Angle in the Ball Joint
2019-04-02
2019-01-1271
Precision spherical joints are widely employed in parallel mechanisms, but its rotation orientation and angle can not be known in its passive motion. Measurement of multi-dimensional angular displacement will be very of great significance in the prediction, feedback and control of motion errors of parallel mechanism. Based on the magnetic effect, a new method to identify the orientation and rotation angle with Hall sensors array matched by permanent magnet is proposed. The basic idea is embedding a permanent magnet(PM) in the ball head and several hall sensors are distributed in the ball socket. When the ball head carrying the permanent magnet rotates together, the Hall sensors array will detect the variation of magnetic induction intensity, and then the angle can be calculated by mathematics model.