Quasi-zero-stiffness based six-degree-of-freedom absolute displacement and attitude measurement device

A QZS based 6-DOF absolute displacement and attitude measurement device, comprising a reference platform, a to-be-measured platform, a displacement and attitude resolver, and six QZS legs with the same structures, wherein two ends of each QZS leg are respectively connected with the reference platform and the to-be-measured platform through spherical joints;

• each QZS leg includes a lower support, a spring, a shaft, a lower end coil, an upper end coil, a lower end magnet, an upper end magnet, an upper support, and a laser displacement sensor;
• the upper end magnet and the lower end magnet are in a mutual repulsion state and are respectively fixed to the shaft through two retaining rings;
• the lower end coil and the upper end coil are located on outer sides of the lower end magnet and the upper end magnet and are fixed to an inner wall of the lower support;
• there is no relative motion among the lower end coil, the upper end coil, and the lower support;
• a space is reserved between the lower end coil and the upper end coil;
• the lower end coil and the upper end coil are charged with currents in opposite directions;
• one end of the shaft is connected with an end part of the inner wall of the lower support through the spring, and another end of the shaft is connected with the end part of the upper support;
• the laser displacement sensor is used for measuring deformation amount information of each of the six QZS legs;
• each laser displacement sensor inputs the deformation amount information into the displacement and attitude resolver;
• and the displacement and attitude resolver solves to obtain displacement and attitude of the to-be-measured platform.