基于对数变换的6-UCU并联平台姿态插值  

Attitude interpolation of 6-UCU parallel platform based on logarithmic transformation

作　　者：屈力刚 李纪泽 李静 QU Ligang;LI Jize;LI Jing(College of Mechanical and Electronic Engineering,Shenyang Aerospace University,Shenyang 110136,CHN)

机构地区：[1]沈阳航空航天大学机电工程学院,辽宁沈阳110136

出　　处：《制造技术与机床》2023年第6期100-104,共5页Manufacturing Technology & Machine Tool

基　　金：基于数字孪生的航空大部件虚实融合装配系统与调姿技术研究(XLYC2002086)。

摘　　要：六自由度并联平台是一种典型的封闭链式空间机构,为了更好地规划并联平台姿态运动,降低振动幅度。通过对数变换将单位四元数表示成插值简便的三维向量,进而以五次多项式算法进行并联平台的姿态插值,最后将姿态插值得到的插值点映射到四元数空间验证四元数多姿态插值的合理性,并搭建6-UCU并联平台进行实验验证。实验结果可知:单位四元数采用对数变换后插值简便,并且五次多项式算法可确保速度与加速度不发生突变状况,拟合曲线光滑度较高,保障了并联平台运动的平稳性,延长并联平台使用寿命。The 6-DOF parallel platform is a typical closed chain spatial mechanism,in order to better plan the attitude trajectory of the parallel platform and reduce the vibration amplitude.The unit quaternion is expressed as a three-dimensional vector with simple interpolation through logarithmic transformation,and then the attitude interpolation of the parallel platform is carried out by the quintic polynomial algorithm.Finally,the interpolation points obtained by the attitude interpolation are mapped to the quaternion space to verify the rationality of quaternion multi attitude interpolation,and the 6-ucu parallel platform is built for experimental verification.Conclusion:the unit quaternion is simple to interpolate after logarithmic transformation,and the quintic polynomial algorithm can ensure that there is no sudden change in speed and acceleration,and the smoothness of the fitting curve is high,which ensures the stability of the motion of the parallel platform and prolongs the service life of the parallel platform.

关 键 词：六自由度并联平台 单位四元数 对数变换 五次多项式算法 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]