Abstract
In the assembly process of large-scale scientific test equipment, there are many difficulties in adjusting the space position and attitude of complex structural parts. The traditional method of adjusting the attitude manually is not only inefficient, but also has low positioning accuracy. This paper presents an automatic attitude adjustment system based on a Stewart 6-DOF parallel robot and coordinate measurement of laser tracker. Firstly, the structure and control strategy of the six degree of freedom motion platform are introduced, then the kinematic relationship between the position and attitude of the six degree of freedom motion platform and the displacement of each electric cylinder is analyzed. Secondly, the change matrix of the reference coordinate system, the static coordinate system and the moving coordinate system is established by using the local matrix, and the displacement and attitude of the adjustment mechanism is obtained. Finally, the effectiveness of the system is verified by experiments.
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