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QU Ligang, LI Jize, LI Jing. Attitude interpolation of 6-UCU parallel platform based on logarithmic transformation[J]. Manufacturing Technology & Machine Tool, 2023, (6): 100-104. doi: 10.19287/j.mtmt.1005-2402.2023.06.017
Citation: QU Ligang, LI Jize, LI Jing. Attitude interpolation of 6-UCU parallel platform based on logarithmic transformation[J]. Manufacturing Technology & Machine Tool, 2023, (6): 100-104. doi: 10.19287/j.mtmt.1005-2402.2023.06.017
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Attitude interpolation of 6-UCU parallel platform based on logarithmic transformation

doi: 10.19287/j.mtmt.1005-2402.2023.06.017

  • College of Mechanical and Electronic Engineering, Shenyang Aerospace University, Shenyang 110136, CHN

  • Received Date: 2023-02-20
  • Accepted Date: 2023-04-07
    Abstract
  • 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.

     

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