球铰链多维转角测量技术进展

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Abstract： Spherical joints，which enable three-dimensional rotational motion，are widely used in robotics， aerospace，medical devices，and industrial automation. With the increasing demand for high precision， miniaturization，and intellgent integration in modern systems， the performance requirementsfor multidimensional angular measurement technologies of spherical joints have become more stringent in terms of accuracy， real-time response，robustness， and system integration.This paper provides a comprehensive review of the current mainstream multidimensional angular measurement technologies for spherical joints，analyzes the main challenges in three-dimensional angle measurement， and discusses future development trends.

Keywords： spherical joints; multi-dimensional angle; angular measurement; review

0 引言

球铰链是能够实现三个旋转自由度的机械传动部件，应用十分广泛[1-3]。（剩余18072字）