Split parallel heavy load six-degree-of-freedom adjusting method and movement mechanism

Abstract

The invention discloses a split parallel heavy-load six-degree-of-freedom adjusting method and a motion mechanism, solves the problem that the existing six-degree-of-freedom pose calculation needs to consume a lot of time, and belongs to the field of six-degree-of-freedom motion control. The system comprises a large-load and high-expansibility six-degree-of-freedom motion platform based on a three-coordinate POGO column. According to the method, a three-coordinate POGO column is connected with three non-collinear fixed points on a motion platform. The positions of the supporting points of the three POGO columns in an actual load coordinate system and a theoretical load coordinate system are obtained according to the given six-degree-of-freedom adjustment amount, and a movement resolving algorithm based on the coordinate transfer relation is designed to calculate the needed six-dimensional movement amount when the positions of the supporting points of the three POGO columns are aligned in the actual load coordinate system and the theoretical load coordinate system. Further, the poses of the three POGO columns are adjusted; according to the invention, through single measurement and single solution, the amount of motion of each axial guide rail and the electric cylinder of the POGO column can be obtained, and complete six-degree-of-freedom motion of a fixture in a space can be realized without interpolation.

Description

Technical Field

[0001] The present invention relates to a six-degree-of-freedom adjustment method and a motion mechanism with split parallel heavy load, belonging to the field of six-degree-of-freedom motion control. Background Art

[0002] A six-degree-of-freedom motion platform is a mechatronic device capable of achieving six degrees of freedom (X, Y, Z, Rx, Ry, Rz) of motion, mainly composed of a fixed platform, a moving platform, electric cylinders or guide rails, and a control system. By running motion control algorithms, the motion speeds and accelerations of the electric cylinders or guide rails are controlled, so as to realize the pose transformation of an object on the moving platform in space. The six-degree-of-freedom motion platform is widely used in many fields such as industrial inspection, aerospace, etc.

[0003] In the fields of precision manufacturing and automation, the six-degree-of-freedom motion platform is the key to achieving high-precision assembly and inspection. However, the existing methods have significant limitations, that is, the load capacity and scalability of the six-degree-of-freedom motion platform limit the applicable range of the six-degree-of-freedom motion platform during actual use, and also cause a decrease in the overall accuracy and stability.

[0004] Traditional six-degree-of-freedom pose solution algorithms usually need to use iterative solution or interpolation motion to achieve pose solution and control. For example, in the Steward algorithm, during the forward solution, the given workload needs to be repeatedly substituted through the Newton iterative method, and the pose is solved by iterative approximation. This process is complex in solution and requires a large amount of time cost, and it is impossible to balance the iterative accuracy and time efficiency. Under high-precision requirements, the iterative time cost is huge and it is difficult to meet the actual needs of six-degree-of-freedom adjustment; in the actual control link, the motor needs to use interpolation motion to differentiate the complex motion trajectory into small-scale linear motions, and this process requires the motor to continuously fine-tune the motion trajectory, with a high time cost. Summary of the Invention

[0005] Aiming at the problem that the existing six-degree-of-freedom pose solution consumes a large amount of time, the present invention provides a six-degree-of-freedom adjustment method and a motion mechanism with split parallel heavy load.

[0006] A six-degree-of-freedom adjustment method with split parallel heavy load of the present invention includes:

[0007] S1. Set three POGO columns at non-collinear positions, and connect the moving platforms of the three POGO columns to the moving platform through spherical hinge pairs; each POGO column is a three-axis moving platform, and the X, Y, Z axes of POGO column 1, the X, Z axes of POGO column 2, and the Z axis of POGO column 3 are the active motions;

[0008] S2. Assemble the load onto the motion platform, obtain the six-degree-of-freedom adjustment amount of the motion platform, determine the positions of the support points of the three POGO columns in the actual load coordinate system and the theoretical load coordinate system based on the six-degree-of-freedom adjustment amount, calculate the six-dimensional motion amounts x1, y1, z1, x2, z2, z3 required for the support points of the three POGO columns to align in the actual load coordinate system and the theoretical load coordinate system, and adjust the poses of the three POGO columns according to the six-dimensional motion amounts x1, y1, z1, x2, z2, z3;

[0009] x1, y1, and z1 are the motion amounts of POGO column 1 in the X, Y, and Z axis directions respectively, x2 and z2 are the motion amounts of POGO column 2 in the X and Z axis directions respectively, and z3 is the motion amount of POGO column 3 in the Z axis direction.

[0010] The present invention also provides a six-degree-of-freedom motion mechanism for split parallel heavy loads, including three POGO columns, an adjustment module, and a motion platform. Each POGO column is a three-axis motion platform, arranged at non-collinear positions, and the X, Y, and Z axis directions of POGO column 1, the X and Z axis directions of POGO column 2, and the Z axis direction of POGO column 3 are active motions. The motion platforms of the three POGO columns are connected to the motion platform through spherical hinge pairs; the load is assembled on the motion platform;

[0011] The adjustment module is used to obtain the six-degree-of-freedom adjustment amount of the motion platform, determine the positions of the support points of the three POGO columns in the actual load coordinate system and the theoretical load coordinate system based on the six-degree-of-freedom adjustment amount, calculate the six-dimensional motion amounts x1, y1, z1, x2, z2, z3 required for the support points of the three POGO columns to align in the actual load coordinate system and the theoretical load coordinate system, and adjust the poses of the three POGO columns according to the six-dimensional motion amounts x1, y1, z1, x2, z2, z3;

[0012] x1, y1, and z1 are the motion amounts of POGO column 1 in the X, Y, and Z axis directions respectively, x2 and z2 are the motion amounts of POGO column 2 in the X and Z axis directions respectively, and z3 is the motion amount of POGO column 3 in the Z axis direction. Preferably, the six-dimensional motion amounts x1, y1, z1, x2, z2, z3:

[0013]

[0014] where t 02 is the translation vector from the world coordinate system to the actual load coordinate system;

[0015] r 03 and t 03 are the rotation matrix and translation vector from the world coordinate system to the theoretical load coordinate system respectively;

[0016] r 42 and t 42They are respectively the rotation matrix and the translation vector between the actual adjustment mechanism coordinate system and the actual load coordinate system;

[0017] r 23 They are the rotation matrix and the translation vector between the actual load coordinate system and the theoretical load coordinate system;

[0018] The spherical center coordinates of the three POGO pins are L1, L2, and L3 respectively. The side length L of the circumscribed rectangle formed by the spherical centers of the three POGO pins is obtained through calibration x and L y ,

[0019] Preferably, the POGO pin includes a base, a motor, X and Y guide rails, X and Y sliders, a Z-direction telescopic column, and a process ball head;

[0020] The base is installed on a fixed plane; the X and Y guide rails are fixed on the base, and the X and Y sliders perform one-dimensional movement along two orthogonal directions on the X and Y guide rails; the Z-direction telescopic column is arranged on the X and Y sliders and moves along the normal direction of the plane determined by the X and Y guide rails; the process ball head is connected to the inverted conical cavity at its top to form a spherical hinge kinematic pair to achieve free rotation, and the inverted conical cavity is a rigid structure on the moving platform.

[0021] The beneficial effect of the present invention is a six-degree-of-freedom motion platform based on a three-coordinate POGO pin with large load and high scalability. This method uses three-coordinate POGO pins and connects them to three non-collinear fixed points on the motion platform. A motion solution algorithm based on coordinate transfer relationship is designed. This algorithm can obtain the movement amounts of the guide rails and electric cylinders of each axis of the POGO pin through single measurement and single solution, and can realize the complete six-degree-of-freedom movement of a fixed object in space without interpolation. This six-degree-of-freedom motion platform has a strong load capacity, and can realize the size expansion of the motion platform by changing the installation position of the POGO pin, effectively solving the problems of limited load capacity and poor scalability of traditional six-degree-of-freedom motion platforms. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the principle of a three-coordinate POGO pin;

[0023] Figure 2 It is a schematic diagram of the principle of the structure of a six-degree-of-freedom motion platform;

[0024] Figure 3 It is a structure diagram of a six-degree-of-freedom motion platform;

[0025] Figure 4 It is a theoretical adjustment mechanism coordinate system;

[0026] Figure 5It is an integrated physical diagram of a six-degree-of-freedom motion mechanism. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the protection scope of the present invention.

[0028] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but it is not limited to the present invention.

[0030] The six-degree-of-freedom adjustment method of split parallel heavy load in this embodiment is implemented based on three POGO columns, including: Step 1, six-degree-of-freedom motion mechanism:

[0031] Each POGO column is a three-axis motion platform. As Figure 1 shown, the POGO column may specifically include a base, a motor, X-direction and Y-direction guide rails, X-direction and Y-direction sliders, a Z-direction telescopic column, and a process ball head;

[0032] The base is installed on a fixed plane; the X-direction and Y-direction guide rails are fixed on the base, and the X-direction and Y-direction sliders perform one-dimensional motion along two orthogonal directions on the X-direction and Y-direction guide rails; the Z-direction telescopic column is arranged on the X-direction and Y-direction sliders and moves along the normal direction of the plane determined by the X-direction and Y-direction guide rails; the process ball head is connected to the inverted conical cavity at its top to form a spherical hinge motion pair to achieve free rotation, and the inverted conical cavity is a rigid structure on the motion platform; the motion platforms of the three POGO columns are connected to the motion platform through spherical hinge pairs;

[0033] The three POGO columns are arranged at non-collinear positions, and the structure of the motion platform is as Figure 2 shown. In view of the symmetric distribution characteristics of this structure, in the preferred embodiment, the arrangement of the three POGO columns follows an isosceles triangle structure, and it is ensured that the three motion mechanisms of each POGO column are strictly parallel to each other. Among them, POGO column 1 is located on the axis of symmetry, and POGO column 2 and POGO column 3 are symmetrically arranged on both sides. Each POGO column is connected to the motion platform to be moved through a spherical hinge pair, so that it has sufficient degrees of freedom in all directions without generating redundant binding forces. This layout ensures the stability of the system, and at the same time enables the remaining degrees of freedom to meet the motion requirements through the adaptation and passive adjustment of the structure of the mechanism itself.

[0034] The theoretical adjustment mechanism coordinate system is asFigure 4 As shown, the connection between the moving platform and the ball joint support point is a rigid body. The coordinate origin is located at the ball joint support point 1. The Y-axis direction is from the midpoint of the ball joint support points 2 and 3 to the ball joint support point 1. The X-axis direction is the same as the line determined by the ball joint support points 2 and 3 and points to the ball joint support point 3. The Z-axis direction is perpendicular to the plane determined by the ball joint support points 1, 2, and 3. Each POGO column in the three coordinates provides three translational degrees of freedom in the X, Y, and Z directions. The three POGO columns are respectively installed at non-collinear positions on the platform. In theory, the support points of the entire system can provide 3×3 = 9 independent displacement inputs. However, since the platform is a rigid body, its motion has only 6 independent degrees of freedom (3 translations + 3 rotations). Therefore, the extra 3 degrees of freedom are redundant. In order to reduce the complexity of motion control, it is necessary to design the three redundant degrees of freedom.

[0035] First, consider the rotation of the coordinate system. For the rotation Ry around the X-axis, it can be achieved by keeping the support points 2 and 3 unchanged, controlling the support point 1 to move along the Z-axis direction, and at the same time moving the Y-axis closer to or farther from the support points 2 and 3. Therefore, the Y and Z direction motions of the POGO column 1 cannot be redundant; for the rotation Ry around the Y-axis, it can be achieved by controlling the Z-axis direction motions of the ball joint support points 2 and 3 to be opposite and have the same amount of motion. Therefore, the Z-axis direction motions of the POGO column 2 and the POGO column 3 cannot be redundant; for the rotation Rz around the Z-axis, it can be achieved by fixing the ball joint support point 1 and simultaneously controlling the X-axis direction of the ball joint support point 2 to perform one-dimensional motion. Therefore, the X-axis direction of the POGO column 2 cannot be redundant, and the X-axis and Y-axis directions of the POGO column 3 and the Y-axis direction motion of the POGO column 2 can be achieved passively;

[0036] Based on the consideration of the coordinate system rotation, the Z-axis directions of the ball joint support points 1, 2, and 3, and the X-axis direction of the ball joint support point 2 are all active motions. Based on this, further consider the translational motion of the moving platform coordinate system. For the translation along the X-axis direction, it is necessary for the ball joint support point 1 and the ball joint support point 2 to move in the same direction along the Y-axis with the same amount of motion. Therefore, the X-axis directions of the POGO column 1 and the POGO column 2 cannot be redundant. At this time, the X-axis direction of the ball joint support point 3 is passive; for the translation along the Y-axis direction, it is necessary for the ball joint support point 1 to move along the Y-axis. Therefore, the Y-axis direction of the POGO column 1 cannot be redundant. At this time, the Y-axis directions of the ball joint support point 2 and the ball joint support point 3 are passive; for the translation along the Z-axis direction, it is necessary for the ball joint support points 1, 2, and 3 to move in the same direction along the Z-axis with the same amount of motion to achieve. Therefore, the Z-axis directions of the POGO column 1, the POGO column 2, and the POGO column 3 cannot be redundant.

[0037] Therefore, for the six-degree-of-freedom motion platform of the present invention, it is ensured that the X, Y, and Z axis directions of the POGO column 1, the X and Z axis directions of the POGO column 2, and the Z axis direction of the POGO column 3 are active motions, and the remaining directions can be redundant. x1, y1, and z1 are the motion amounts in the X, Y, and Z axis directions of the POGO column 1 respectively, x2 and z2 are the X and Z axis directions of the POGO column 2 respectively, and z3 is the motion amount in the Z axis direction of the POGO column 3.

[0038] Step 2: Assemble the load onto the motion platform, and obtain the six-degree-of-freedom adjustment amount of the motion platform. Based on the six-degree-of-freedom adjustment amount, obtain the positions of the support points of the three POGO columns in the actual load coordinate system and the theoretical load coordinate system. Calculate the six-dimensional motion amounts x1, y1, z1, x2, z2, and z3 required when the positions of the support points of the three POGO columns in the actual load coordinate system and the theoretical load coordinate system are aligned, and adjust the poses of the three POGO columns according to the six-dimensional motion amounts x1, y1, z1, x2, z2, and z3.

[0039] In order to solve the motion amounts of each dimension of the three-coordinate POGO column, it is necessary to specify the six-degree-of-freedom adjustment amount of the motion platform, and based on this, calculate the attitude deviation between the target position and the current position of the rigid plane determined by the ball center of the POGO column. It can be known from the rigid body relationship that the relationship between the motion platform and the rigid plane formed by the ball center of the POGO column is uniquely corresponding. On this basis, confirm the adjustment amount (X, Y, Z, Rx, Ry, Rz) of the six-degree-of-freedom platform. According to kinematic analysis, in the motion platform proposed in this embodiment, the active motion structure is the X, Y, and Z directions of the POGO column 1, the Y and Z directions of the POGO column 2, and the Z direction of the POGO column 3. Table 1 shows the coordinate system defined by the motion amount calculation algorithm proposed in this embodiment.

[0040] Table 1 Coordinate System Corresponding Relationship

[0041]

[0042]

[0043] The six-axis motion quantity calculation algorithm of this embodiment mainly aims to perform kinematic calculation on the motion quantities of a six-degree-of-freedom motion platform with three POGO columns. By measuring the theoretical and actual poses of the load and the target with a laser tracker, the motion quantities of the three POGO columns are calculated, and motion control is achieved. During the actual calculation process, the translation matrix and rotation matrix of the world coordinate system defined by the laser tracker and the theoretical adjustment mechanism coordinate system and the actual adjustment mechanism coordinate system defined by the ball heads of the POGO columns are respectively obtained. Among them, the theoretical adjustment mechanism coordinate system is the coordinate system defined by the centers of the ball heads of the three POGO columns in the theoretical model, and the actual adjustment mechanism coordinate system is the coordinate system defined by the centers of the ball heads of the three POGO columns actually detected. The deviation between the two can reflect the required pose change amount of this motion platform. At the same time, the theoretical coordinate values of the centers of the ball heads of the POGO columns in the theoretical adjustment mechanism coordinate system are read from the model, transferred to the world coordinate system through the coordinate transfer relationship, and the motion quantities of each spherical hinge joint on the three axes are calculated through the difference between the two transfers.

[0044] For two coordinate systems A and B, they represent the original coordinate system and the target coordinate system respectively. A point in coordinate system A can be transformed into coordinate system B through the translation vector T and the rotation matrix R. Assume P A is a point in coordinate system A, expressed as Assume P B is a point in coordinate system B, expressed as The general coordinate transformation formula can be written in the following form:

[0045] P B = R·P A + T

[0046] Where:

[0047] R is the rotation matrix from coordinate system A to coordinate system B (3x3 matrix);

[0048] T is the translation vector from coordinate system A to coordinate system B (3x1 vector);

[0049] To solve for the translation vector T, for coordinate systems A and B, assume their coordinate origins are O A , O B , then the translation vector T from coordinate system A to coordinate system B can be expressed by the formula. For this system, the translation vector between the two coordinate systems is the coordinate difference of the coordinate origins:

[0050] T = O B - O A

[0051] To solve for the rotation matrix R, for coordinate systems A and B, define the coordinate values of several points in the two coordinate systems as and For the rotation matrix R of the coordinate system A→B, the following overdetermined equations can be constructed:

[0052]

[0053] The SVD decomposition method is used to solve the optimal rotation matrix, and the calculation formula is as follows:

[0054]

[0055] [U S V] = SVD(H) → R = VU T =(A - T)B T

[0056] The above process shows that through the pose between two coordinate systems, the coordinate transfer relationship of all points between the two coordinate systems can be solved non-iteratively, and based on this, the movement amounts of each axis of the POGO column can be obtained.

[0057] By pre-calibration, the side length L of the circumscribed rectangle formed by the spherical centers of the three POGO columns is obtained x and L y , a rigid plane coordinate system can be constructed, and the coordinate values of the three spherical centers are defined:

[0058]

[0059] The load is installed on the moving platform, and the rotation matrix r 42 and the translation vector t 42 between the current actual adjustment mechanism coordinate system and the actual load coordinate system are obtained through assembly.

[0060] From the rigid body relationship, it can be known that the relationship between the load and the spherical hinge joint is uniquely corresponding. Therefore, the corresponding relationship r 53 , t 53 between the theoretical load coordinate system and the theoretical adjustment mechanism coordinate system, and the corresponding relationship r 42 and t 42 between the actual load coordinate system and the actual adjustment mechanism coordinate system are equivalent, that is:

[0061] r 53 = r 42 , t 53 = t 42

[0062] Using measurement equipment such as a laser tracker, the relationship between the six-degree-of-freedom moving platform and the load coordinate system and the world coordinate system of the detection instrument is obtained. And through the rigid body coordinate transfer relationship, the six-axis movement amounts of the POGO column are calculated. Among them, r 03 , t 03 are the rotation matrix and translation vector from the world coordinate system to the theoretical load coordinate system. r 02 , t 02is the rotation matrix and translation vector from the world coordinate system to the actual load coordinate system, r 23 , t 23 are the rotation matrix and translation vector from the actual load coordinate system to the theoretical load coordinate system.

[0063] According to the actual position and theoretical position of the support points in the world coordinate system, using the kinematic calculation model to calculate the six-dimensional motion amounts x1, y1, z1, x2, z2, z3 required for the alignment of the support points of the three POGO columns in the actual load coordinate system and the theoretical load coordinate system, and adjusting the poses of the three POGO columns according to the six-dimensional motion amounts x1, y1, z1, x2, z2, z3. The kinematic calculation model is as follows:

[0064]

[0065] This embodiment realizes the accurate calculation of the six-axis pose through single calculation and single measurement.

[0066] This embodiment also provides a six-degree-of-freedom motion mechanism with split parallel heavy load, including three POGO columns, an adjustment module and a motion platform. Each POGO column is a three-axis motion platform, arranged at non-collinear positions, and the X, Y, Z axis directions of POGO column 1, the X, Z axis directions of POGO column 2, and the Z axis direction of POGO column 3 are active motions. The motion platforms of the three POGO columns are connected to the motion platform through spherical hinge pairs; the load is assembled on the motion platform;

[0067] The adjustment module is used to obtain the six-degree-of-freedom adjustment amount of the motion platform, obtain the positions of the support points of the three POGO columns in the actual load coordinate system and the theoretical load coordinate system according to the six-degree-of-freedom adjustment amount, use the kinematic calculation model to calculate the six-dimensional motion amounts x1, y1, z1, x2, z2, z3 required for the alignment of the support points of the three POGO columns in the actual load coordinate system and the theoretical load coordinate system, and adjust the poses of the three POGO columns according to the six-dimensional motion amounts x1, y1, z1, x2, z2, z3.

[0068] Experimental results:

[0069] Build the six-degree-of-freedom motion mechanism of this embodiment on the laboratory optical platform, perform pose adjustment on the object to be inspected with large load (200 kg) and large size (1800 mm × 1500 mm). The system displacement adjustment range is ±1 mm, and the angle adjustment range is ±1°. Among them, the rated power of the motor in the Z direction is 400 w, and the rated power of the motors in the X and Y directions is 750 w.

[0070] Set 8 groups of six-degree-of-freedom adjustment amounts, and construct the rotation angles (Rx, Ry, Rz) and displacements (x, y, z) of the six-degree-of-freedom motion mechanism in three-dimensional space. Then use the method of this embodiment for motion calculation, measure the attitude of the adjusted motion platform with a laser tracker, analyze the error between the actual position and the target position of the adjusted motion platform, so as to evaluate the source of the measurement error and its impact on the experimental results. Under the premise of determining the six-degree-of-freedom adjustment amounts, this system can complete a single pose adjustment within 30 s. Perform eight detections of the pose adjustment of the system box in this environment, and the adjustment errors of the six degrees of freedom are shown in Table 2.

[0071] Table 2 Six-degree-of-freedom adjustment errors in the pose adjustment experiment of the detection system box

[0072]

[0073]

[0074] Considering that there is a measurement error in the laser tracker, its nominal measurement error is 15 μm + 6 μm / m, that is, its measurement error will increase linearly with the increase of the measurement distance. Considering that in the experimental environment, the working distance of the laser tracker is about 1 m, based on its nominal error formula, the self-repeated measurement error of the laser tracker can be expressed as:

[0075] ΔL = 15 μm + 6 μm / m × 1 m = 21 μm

[0076] Considering the measurement error, correct the adjustment errors in each direction of the six degrees of freedom in Table 2, and the corrected results are shown in Table 3.

[0077] Table 3 Adjustment errors in each direction of the six degrees of freedom after correction

[0078]

[0079] The pose adjustment errors are all less than or equal to the measurement error of the laser tracker itself after introducing the measurement error of the laser tracker. Especially in the measurement of the rotation angle, the amplitude of the adjustment error is much smaller than the measurement error of the laser tracker, thus ensuring the accuracy and stability of the pose adjustment system under large loads. The above results fully illustrate the effectiveness of this embodiment.

[0080] Although the present invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Accordingly, it should be understood that numerous modifications may be made to the exemplary embodiments, and other arrangements may be devised, without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that different dependent claims and the features described herein may be combined in ways different from those described in the original claims. It should also be understood that the features described in connection with a separate embodiment may be used in other described embodiments.

Claims

1. A six-degree-of-freedom adjustment method with split parallel overload, characterized in that Including: S1. Set three POGO pins at non - collinear positions. The moving platforms of the three POGO pins are connected to the moving platform through spherical hinge pairs; each POGO pin is a three - axis moving platform, and the X, Y, and Z axes of POGO pin 1, the X and Z axes of POGO pin 2, and the Z axis of POGO pin 3 are in active motion. S2. Assemble the load onto the moving platform, and obtain the six - degree - of - freedom adjustment amount of the moving platform. According to the six - degree - of - freedom adjustment amount, obtain the positions of the support points of the three POGO pins in the actual load coordinate system and the theoretical load coordinate system. Calculate the six - dimensional motion amounts x1, y1, z1, x2, z2, z3 required when the positions of the support points of the three POGO pins in the actual load coordinate system and the theoretical load coordinate system are aligned, and adjust the poses of the three POGO pins according to the six - dimensional motion amounts x1, y1, z1, x2, z2, z3. x1, y1, and z1 are the motion amounts in the X, Y, and Z axes of POGO pin 1 respectively, x2 and z2 are the motion amounts in the X and Z axes of POGO pin 2 respectively, and z3 is the motion amount in the Z axis of POGO pin 3.

2. The six-degree-of-freedom adjustment method with split parallel overload according to claim 1, characterized in that Six - dimensional motion amounts x1, y1, z1, x2, z2, z3: where t 02 is the translation vector from the world coordinate system to the actual load coordinate system; r 03 and t 03 are respectively the rotation matrix and the translation vector from the world coordinate system to the theoretical load coordinate system; r 42 and t 42 are the rotation matrix and the translation vector between the coordinate system of the actual adjustment mechanism and the coordinate system of the actual load, respectively; r 23 is the rotation matrix and translation vector between the actual load coordinate system and the theoretical load coordinate system; The spherical center coordinates of the three POGO pins are L1, L2, and L3 respectively, and the side length L of the circumscribed rectangle formed by the spherical centers of the three POGO pins is obtained through calibration. x and L y , 3. The six-degree-of-freedom motion mechanism with split-body parallel overload, characterized in that It includes three POGO pins, an adjustment module, and a moving platform. Each POGO pin is a three - axis moving platform, set at non - collinear positions, and the X, Y, and Z axes of POGO pin 1, the X and Z axes of POGO pin 2, and the Z axis of POGO pin 3 are in active motion. The moving platforms of the three POGO pins are connected to the moving platform through spherical hinge pairs; the load is assembled on the moving platform. The adjustment module is used to obtain the six - degree - of - freedom adjustment amount of the moving platform, obtain the positions of the support points of the three POGO pins in the actual load coordinate system and the theoretical load coordinate system according to the six - degree - of - freedom adjustment amount, calculate the six - dimensional motion amounts x1, y1, z1, x2, z2, z3 required when the positions of the support points of the three POGO pins in the actual load coordinate system and the theoretical load coordinate system are aligned, and adjust the poses of the three POGO pins according to the six - dimensional motion amounts x1, y1, z1, x2, z2, z3. x1, y1, and z1 are the motion amounts in the X, Y, and Z axes of POGO pin 1 respectively, x2 and z2 are the motion amounts in the X and Z axes of POGO pin 2 respectively, and z3 is the motion amount in the Z axis of POGO pin 3.

4. The six-degree-of-freedom motion mechanism with split parallel overload according to claim 3, characterized in that, Six - dimensional motion amounts x1, y1, z1, x2, z2, z3: where t 02 is the translation vector from the world coordinate system to the actual load coordinate system; r 03 、t 03 are respectively the rotation matrix and the translation vector from the world coordinate system to the theoretical load coordinate system; r 42 、t 42 are respectively the rotation matrix and the translation vector between the coordinate system of the actual adjustment mechanism and the coordinate system of the actual load; r 23 is the rotation matrix and translation vector between the actual load coordinate system and the theoretical load coordinate system; The spherical center coordinates of the three POGO pins are L1, L2, and L3 respectively, and the side length L of the circumscribed rectangle formed by the spherical centers of the three POGO pins is obtained through calibration. x and L y , 5. The six-degree-of-freedom motion mechanism with split parallel overload according to claim 3, characterized in that, The POGO pin includes a base, a motor, X - and Y - direction guide rails, X - and Y - direction sliding tables, a Z - direction telescopic column, and a process ball head. The base is installed on a fixed plane; the X - and Y - direction guide rails are fixed on the base, and the X - and Y - direction sliding tables perform one - dimensional motion along two orthogonal directions on the X - and Y - direction guide rails; the Z - direction telescopic column is arranged on the X - and Y - direction sliding tables and moves along the normal direction of the plane determined by the X - and Y - direction guide rails; the process ball head is connected to the inverted conical cavity at its top to form a spherical hinge motion pair to achieve free rotation, and the inverted conical cavity is a rigid structure on the moving platform.

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