Docking Pose Measurement Method for Large Components Based on Draw-Wire Displacement Sensors

Abstract

A method for measuring the docking pose of large components based on the draw-wire displacement sensor is proposed. In this method, coordinate systems and measurement points are established on the docking surfaces of fixed and moving components. The draw-wire displacement sensor is used to measure the distances between these measurement points. A mathematical model based on the distances between the measurement points is established, and the three-sphere rendezvous positioning principle is optimized to obtain the spatial positions of the measurement points. Consequently, the pose deviations of the fixed and moving components in all six degrees of freedom (6DOF) are determined. A simulation analysis of the measurement uncertainty of the obtained pose deviations is performed, resulting in a composite standard uncertainty obtained from the measurement standard uncertainties of different sensors. The simulation results show that the composite standard uncertainty is most affected in the x-axis translation direction and least affected in the x-axis rotation direction. With this method, only the distances between the measurement points need to be measured to determine the corresponding pose relationships. The cost of the equipment is low, and it is not easily affected by external factors such as the environment.

Keywords

• draw-wire displacement sensor
• three-sphere rendezvous positioning
• spatial pose solution
• measurement uncertainty