The invention discloses a six-degree-of-freedom absolute pose measuring device based on quasi-zero stiffness. The six-degree-of-freedom absolute pose measuring device comprises a reference platform, ato-be-measured platform, a pose resolver and six quasi-zero stiffness supporting legs of the same structure. Currents in opposite directions are respectively supplied to a lower end coil and an upperend coil, at the moment, two coils generate an electromagnetic field in the surrounding space, the electromagnetic field interacts with the magnetic fields of the lower magnet and the upper magnet togenerate electromagnetic rigidity opposite to rigidity of the spring, and the rigidity of the spring and the electromagnetic negative rigidity are mutually counteracted, so the rigidity of the wholesupporting leg is close to zero rigidity; when the to-be-tested platform moves in the space, the motion cannot be transmitted to the reference platform, so the reference platform is in a static state;at the moment, deformation of the six supporting legs can be measured through the laser displacement sensors, six sets of deformation are input into an pose resolver, and the displacement and attitude of the to-be-measured platform can be solved through kinematics positive solution of the six-degree-of-freedom device.

Six-degree-of-freedom absolute pose measuring device based on quasi-zero stiffness

The invention discloses a gravity compensator with low rigidity and large suspension force. A stator part comprises a stator inner ring permanent magnet, a coil and a stator outer ring permanent magnet; a mover part comprises a mover inner ring permanent magnet and a mover outer ring permanent magnet, the stator inner ring permanent magnet, the mover inner ring permanent magnet, the coil, the mover outer ring permanent magnet and the stator outer ring permanent magnet are sequentially arranged from inside to outside, gaps are formed between them, and the stator part and the mover part interactto generate suspension force. The inner ring and the outer ring of the stator respectively comprise three layers of permanent magnets in the axial direction such that the magnetic field intensity isincreased, and the suspension force generated by the gravity compensator is large; meanwhile, the magnetizing directions of an upper layer and a lower layer of the three layers of permanent magnets are opposite such that the magnetic field is more uniform, the suspension force is close to linearity, the suspension rigidity is reduced, the gravity of a load can be effectively compensated, the positioning of the bearing platform is realized, and the influence of internal and external disturbance sources on the load is reduced.

Gravity compensator with low rigidity and large suspension force

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Six-degree-of-freedom absolute pose measuring device based on quasi-zero stiffness

Gravity compensator with low rigidity and large suspension force