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<p>This study establishes a six degree-of-freedom (DOF) noncontact measurement system for real-time feedback on a cable-driven parallel mechanism. The system is a fusion of four 1D position-sensitive detectors for the three planar DOFs (<i>X</i>, <i>Y</i>, <i>θ</i><sub><i>Z</i></sub>) and four laser displacement sensors for the other three DOFs (<i>θ</i><sub><i>X</i></sub>, <i>θ</i><sub><i>Y</i></sub>, <i>Z</i>). The measurement principles, error analysis, and nonlinear calibration methods are explored. A Kalman filter is applied to enhance system performance by reducing noise, while a high-precision inertial measurement unit is utilized to calibrate the four laser displacement sensors. Tests performed on a precision angular displacement table validate the system, achieving a translational range of 70 mm×70 mm×320 mm with 0.49 mm accuracy and an orientational range of ±10° with 0.068° accuracy. This high-precision, real-time (up to 1000 Hz rate) system supports closed-loop control and offers a novel approach for multiple-DOF spatial motion measurement.</p>

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Full-degree-of-freedom measurement system design for a cable-driven parallel mechanism based on multisource sensor fusion

  • 期刊论文

  • 发表日期：

    2025年8月4日

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  • Yuanhang Wen,
  • Jiejun Liang,
  • Jialong Luo,
  • Peikang Zhou,
  • Guanlin Zhong,
  • Deyu Liang,
  • Jiasi Mo

摘要

This study establishes a six degree-of-freedom (DOF) noncontact measurement system for real-time feedback on a cable-driven parallel mechanism. The system is a fusion of four 1D position-sensitive detectors for the three planar DOFs (X, Y, θZ) and four laser displacement sensors for the other three DOFs (θX, θY, Z). The measurement principles, error analysis, and nonlinear calibration methods are explored. A Kalman filter is applied to enhance system performance by reducing noise, while a high-precision inertial measurement unit is utilized to calibrate the four laser displacement sensors. Tests performed on a precision angular displacement table validate the system, achieving a translational range of 70 mm×70 mm×320 mm with 0.49 mm accuracy and an orientational range of ±10° with 0.068° accuracy. This high-precision, real-time (up to 1000 Hz rate) system supports closed-loop control and offers a novel approach for multiple-DOF spatial motion measurement.