Device for determining position and orientation of secondary body i.e. front body, relative to main body i.e. rear body, of dual-body or multiple-body mole, has slide arranged between joints and instrumented by elongation sensor

摘要

The device has a Cardan joint (1a) rigidly connected to a main body (1), and instrumented by a pitch sensor and a yaw sensor. Another Cardan joint (2a) is connected to a secondary body (2), and is instrumented by another pitch sensor and another yaw sensor. A pivot (3) is arranged between the latter Cardan joint and the secondary body, and is instrumented by a roll sensor. A slide (4) is arranged between the joints and is instrumented by an elongation sensor. The slide has two parts (4a, 4b) sliding with respect to each other without relative rotation.