Design And Research Of Magnetic Suspension Spherical Active Joint Rotor Detection System

With the rapid development of modern industrial technology, the magnetic suspension spherical active joints with small compact structure, high precision operation and six degrees of freedom have been widely used in the industrial robots and other equipment. Under the condition of high speed and ultra-high operation, robot joint position and posture detection is an important part of magnetic suspension spherical active joint control, both detection method with position sensor and no position sensor detection technology, the precision of robot's position and posture directly affect the the control performance of the joints. Advanced control technology of magnetic suspension spherical motor is based on the high precision of rotor's position and posture detection. The accuracy of sensor's output signal restricts the joints system operation performance and efficiency. At the same time, the structure of sensor also affects the active system's reliability and complexity. Therefore, research on magnetic suspension robot position detection has very important significance both in theoretical exploration and practical applications.Now the robot position detection is external sensor detection which has complicated structure and installation difficulties as well as poor stability. So the paper tried to combine indirect measuring method and position updating theory to have an research on the object of this project which had achieved good effects.In the paper, works include the following parts.The paper introduced the development history, research status of the spherical joints, application and the status and development direction of spherical motor position detection, put forward the main research direction in this paper.Based on the principle of signal conversion and transmission, the paper had an research on the signal circuit and testing system. Deduced the transformation and processing circuits such as signal transformation, amplification, modulation and demodulation, filter and so on. The original signals replied to the subsequent control device through signal conversion circuit.Constructed a three dimensional coordinate system, cleared the relationship between the coordinate systems, defined the posture parameters. Analyzed the working principle of the sensor and the signal detection mechanism, detected the angular velocity and acceleration signal. Research displacement integral algorithm and attitude updating algorithm to get rotor position and location.Based on the requirement of hollow rotor structure and the sampling theorem, selected the gyroscope sensor, acceleration sensor and wireless transmitting sensors which satisfy the requirement of the rotor motion and size. Designed LabVIEW PC software, assembled and test.Installed the micro pose detection system in the hollow spherical rotor, connected with the PC software, built the experimental platform, detected the movement of rotor at any time after suspension. Compared with several simulation movement, analyzed the precision and error. The rationality and stability of this method is verified by experiments.