Three-foot six-axis linkage posture adjusting platform algorithm

Abstract

The invention discloses a three-foot six-axis linkage posture adjusting platform algorithm, and belongs to the field of automatic control. The method mainly comprises the following steps: firstly, establishing a base coordinate system and an R coordinate system, and determining coordinates of hinge fulcrums at a zero position; according to the inverse solution operation, a transformation matrix is constructed according to the platform target attitude (including translation and rotation information), the upper plane rotating shaft point position is obtained through coordinate transformation and error compensation, and the lower plane rotating shaft point movement position and the driving end output quantity are calculated by combining a mechanical structure; the positive solution operation is based on the current position of the platform, and the platform attitude is obtained by determining lower platform hinge fulcrum coordinates, setting a connecting rod included angle, performing projection calculation, performing coordinate transformation and solving key parameters through a Newton iteration method. The algorithm has the advantages that accurate conversion between the posture of the posture adjusting platform and the driving action can be achieved, and the problems that an existing six-axis posture adjusting platform driven by a hydraulic cylinder is high in energy consumption, large in noise, greatly affected by the environment and the like are effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and particularly relates to an algorithm for a three-legged six-axis linkage posture adjustment platform. Background Art

[0002] Currently, with the rapid development of industrial automation, enterprises have higher and higher requirements for processing, assembly, inspection, etc. Moreover, the posture adjustment process of the posture adjustment platform has become more and more strict, which has led to the change from the previous manual posture adjustment platform to the current increasingly more automatic posture adjustment platforms on the market. These platforms are widely used in fields such as wafer inspection, optical inspection, laser welding, etc. Of course, various posture adjustment platforms have their own advantages and disadvantages. For example, in the field of six-axis posture adjustment platforms, hydraulic cylinders are commonly used as the driving mechanism or the method of six-axis alignment of the moving platform is commonly used to achieve posture adjustment, etc. Hydraulic cylinders consume high energy, generate large noise, and the hydraulic oil is also greatly affected by the ambient temperature, and there are high requirements for the cooperative telescoping of the six telescopic rods. Summary of the Invention

[0003] The purpose of the present invention is to provide an algorithm for a three-legged six-axis linkage posture adjustment platform aiming at the problem of insufficient accuracy requirements for the six-axis posture adjustment platform algorithm in the prior art.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] An algorithm for a three-legged six-axis linkage posture adjustment platform is provided, which is applicable to a three-legged six-axis linkage posture adjustment platform. The platform includes a static platform, a moving platform, and a universal shaft. The universal shaft includes an upper and a lower shaft inside, which are used to move the three-legged six-axis posture adjustment platform. The algorithm is used to control the movement path of the platform, and the steps include:

[0006] Step 1. Establish a coordinate system: Take the center of the circumscribed circle of the movement plane of the lower rotating shaft of the posture adjustment platform as the origin of the base coordinate system, and determine the directions of the X, Y, and Z axes; similarly, establish an R coordinate system to ensure that the XYZ directions of the two coordinate systems are the same, providing a unified spatial reference framework for subsequent calculations; establish the XYZ axes on the static platform 1 and the X′Y′Z′ axes in the original direction of the moving platform 3.

[0007] Step 2. Determine the zero position coordinates in the R coordinate system: Calculate the coordinates of the upper and lower hinge points of the three link motion mechanisms (Z1, Z2, and Z3 axes) in the base coordinate system in the zero position state. This coordinate is an important basis for analyzing the starting state of the platform movement.

[0008] Step 3. Inverse solution operation: Construct a transformation matrix according to the given posture information (translation and rotation information) of the platform, perform coordinate transformation on the upper rotating shaft point, and perform compensation according to the distance difference between the actual and the calculated planes to obtain the final position of the upper plane rotating shaft point; calculate the movement position of the lower plane rotating shaft point according to the mechanical structure and the position of the upper plane rotating shaft point, and determine the output of the driving end to realize the conversion from the target posture of the platform to the driving action.

[0009] Step 4. Correct solution operation: Based on the known current position of the platform (the motion parameters of the driving end), solve the actual attitude of the platform; first determine the coordinates of the hinge points on the lower platform, set the angle between the connecting rod and the horizontal plane, and calculate the coordinates of the support points on the upper plane through projection and coordinate transformation; use the Newton iteration method to solve the key angle parameters, obtain the coordinates and normal vector of the center point on the upper plane, and finally calculate the platform attitude for realizing the derivation from the driving action to the actual attitude of the platform.

[0010] Furthermore, for calculating the zero-position coordinate system in the said Step 2, the calculation formula is:

[0011] ;

[0012] where a is the lower rotating shaft of the connecting rod of the Z1 motion axis, b is the upper rotating shaft of the connecting rod of the Z2 motion axis, c is the upper rotating shaft of the connecting rod of the Z3 motion axis, r is the radius of the circumscribed circle of the upper rotating shafts of the three connecting rods, and R is the radius of the circumscribed circle of the lower rotating shafts of the three connecting rods.

[0013] Furthermore, for the said Step 2, the zero-position coordinates of the lower hinge points are calculated as:

[0014] ;

[0015] ;

[0016] ;

[0017] where A is the lower rotating shaft of the connecting rod of the Z1 motion axis, B is the lower rotating shaft of the connecting rod of the Z2 motion axis, C is the lower rotating shaft of the connecting rod of the Z3 motion axis, R is the radius of the circumscribed circle of the lower rotating shafts of the three connecting rods A, B, and C, and l is the length of the connecting rod.

[0018] Furthermore, in the said Step 3, the attitude information Q is:

[0019] ;

[0020] where move_x, move_y, and move_z are the displacements in the X, Y, and Z directions respectively, and angle_x, angle_y, and angle_z are the angles of rotation around the X, Y, and Z axes respectively; the transformation matrix is:

[0021] ;

[0022] The normal vector of the transformation matrix is:

[0023] ;

[0024] where ax = angle_x; ay = angle_y; az = angle_z;

[0025] Further, in the step 3, the calculation formula for the final position of the upper plane rotation axis point is:

[0026] ;

[0027] where, is the coordinate of the final position in the R coordinate system, is the coordinate of the upper rotation axis point.

[0028] Further, in the step 3, the calculation formula for the output of the driving end is:

[0029] ;

[0030] where move_Ax, move_Ay, and move_Az are the displacement values in the X, Y, and Z directions respectively.

[0031] Further, in the step 4, the coordinates of the hinge point of the lower platform are:

[0032] ;

[0033] ;

[0034] ;

[0035] Further, in the step 4, the calculation formula for the coordinates of the upper plane fulcrum in the R coordinate system is:

[0036] ;

[0037] Further, in the step 4, the calculation formula for the platform attitude is:

[0038] ;

[0039] ;

[0040] ;

[0041] ;

[0042] where Q is the attitude of the current platform.

[0043] The beneficial effects of the present invention are:

[0044] (1) Through detailed kinematic calculations, including inverse and forward solutions, the motion parameters of each axis of the platform can be accurately determined. In the inverse solution, according to the given platform attitude, the motion displacements of the rotation points on the lower plane are accurately calculated, and the output is calculated to provide an accurate basis for the actual adjustment of the platform. In the forward solution, relevant equations are solved by the Newton iteration method to continuously approach the attitude that satisfies the current position of the platform, and finally the accurate platform attitude is obtained, thus realizing the high-precision attitude adjustment of the platform.

[0045] (2) The mechanical structure and motion characteristics of the platform are fully considered. Through the establishment of a suitable coordinate system and complex transformation matrix calculations, the effective control of the platform motion is realized. In the calculation process, factors such as the distance difference between the actual upper plane and the calculated upper plane are considered to compensate for the platform motion, making the platform motion more stable and accurate, and improving the performance and stability of motion control. Description of the Drawings

[0047] Figure 1 Schematic diagram for establishing the coordinate system of the three-leg six-axis platform;

[0048] Figure 2 Diagram of the connecting rod structure and the marked motion directions;

[0049] Figure 3 Geometric relationship diagram of the zero-position coordinates of the hinge points;

[0050] Figure 4 Diagram of the motion correlation of the rotation points on the upper and lower planes;

[0051] Figure 5 Diagram for establishing the projection coordinate system and coordinate transformation. Detailed Implementation Manner

[0053] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0054] Refer to Figure 1 , the three-leg six-axis attitude adjustment platform mainly consists of a static platform 1, a universal ball hinge 2, a moving platform 3, a universal shaft 4, a universal shaft base 5, a top plate 6, a crossed roller linear guide 7, an intermediate plate 8, a bottom plate 9, and a motor 10.

[0055] A set of adjustment mechanisms is composed of a universal ball hinge 2, a universal shaft 4, a universal shaft base 5, a top plate 6, a crossed roller linear guide 7, an intermediate plate 8, a bottom plate 9, and a motor 10. There are three such identical adjustment mechanisms evenly distributed in a circle in this device. Among them, the motor 10 and the base 9 are fixed on the static platform 1. The top plate 6 and the intermediate plate 8, and the intermediate plate 8 and the bottom plate 9 are respectively connected by a crossed roller linear guide 7 and can slide relative to each other. Each set of mechanisms has two motors 10 that act on the intermediate plate 8 and the top plate 6 respectively through a screw-nut pair, so that the top plate 6 can translate under the drive of the motor 10. A universal shaft base 5 is fixed on the top plate 6. One end of the universal shaft 4 is hinged to the moving platform 3 through a connecting universal ball hinge 2, and the other end is fitted on the universal shaft base 5 through a bearing. The three sets of adjustment mechanisms are evenly distributed in a circle on the static platform 1 at an angle of 120° to each other. When each motor 10 works, the rotation of the output shaft of the motor 10 causes the top plate 6 and the intermediate plate 8 to perform linear motion through the screw-nut pair. A universal shaft base 5 is fixed on the top plate 6. One end of the universal shaft 4 is hinged to the moving platform 3 through a connecting universal ball hinge 2, and the other end is fitted on the universal shaft base 5 through a bearing. Combining the characteristics of the universal ball hinge 2, the moving platform 3 can achieve displacement along the X, Y, and Z axes and swing around the X, Y, and Z axes. In summary, the pose adjustment of six degrees of freedom is realized.

[0056] On the above-mentioned three-legged six-axis pose adjustment platform, a base coordinate system and an R coordinate system are established. The XYZ axes are set on the static platform 1, and the X′Y′Z′ axes are set in the original direction of the moving platform 3. The origin position, the direction of the coordinate axes, and the naming rules of each link axis are clarified, providing a basic reference framework for subsequent coordinate calculations and kinematic analyses. As Figure 2As shown, this figure details the structure of three link motion mechanisms (corresponding to three universal shafts 4, and the respective upper and lower rotating shafts corresponding to the three universal shafts 4, the Z1, Z2, and Z3 axes), marks the upper and lower rotating shafts of the links of each axis (universal shaft 4) (such as the lower rotating shaft A and the upper rotating shaft a of the Z1 moving axis link, etc.), as well as the two orthogonal directions (Ax, Ay, Bx, By, Cx, Cy) in which the lower rotating shaft of the link can move and their positive directions, to help understand the motion mode of the link and the positional relationship between components. Establish a base coordinate system: The origin is located at the center of the circumcircle of the lower rotating shaft motion plane. Take the center of the link rotating shaft in the zero position as the y-axis, and name this link the Z1 axis. The direction horizontally to the right perpendicular to the y-axis is the X-axis, and the direction vertically upward perpendicular to the XOY plane is the Z-axis. Establish an R coordinate system. The origin is located at the center of the circumcircle of the upper rotating shaft motion plane, and the XYZ directions are the same as those of the base coordinate. Then, name Z1, Z2, and Z3 in sequence counterclockwise from the top view, that is, the three link motion mechanisms are the Z1, Z2, and Z3 axes; A is the lower rotating shaft A of the Z1 moving axis link, a is the upper rotating shaft of the Z1 moving axis link, B is the lower rotating shaft of the Z2 moving axis link, b is the upper rotating shaft of the Z2 moving axis link, C is the lower rotating shaft of the Z3 moving axis link, c is the upper rotating shaft of the Z3 moving axis link, r is the radius of the circumcircle of the upper rotating shafts of the three links, R is the radius of the circumcircle of the lower rotating shafts of the three links, l is the length of the link, and l1 = l2 = l3 = l. As shown in Figure 3, by presenting the geometric shape and dimensional parameters of the platform structure (such as the radius r of the circumcircle of the upper rotating shafts of the three links, the radius R of the lower rotating shafts, and the link length l), and using these geometric relationships to derive the coordinates of the upper hinge point and the lower hinge point in the base coordinate system in the zero position state is an important basis for subsequent kinematic calculations.

[0057] The lower rotating shaft of the link can move in two orthogonal directions, namely Ax, Ay, Bx, By, Cx, Cy, as Figure 2 shown. From Figure 3 the structural geometric relationships, the coordinates of the upper hinge point in the zero position state in the base coordinate system are:

[0058] ;

[0059] ;

[0060] ;

[0061] The coordinates of the lower hinge point in the zero position state in the base coordinate system are:

[0062] ;

[0063] ;

[0064] ;

[0065] Determine the zero position coordinates in the R coordinate system: Calculate the coordinates of the upper and lower hinge points of the three-link motion mechanism (Z1, Z2, Z3 axes) in the base coordinate system in the zero position state. This coordinate is an important basis for analyzing the starting state of the platform motion.

[0066] Inverse solution operation: The moving platform has an attitude:

[0067] (move_x, move_y, move_z are the displacements in the X, Y, and Z directions respectively, unit: mm.

[0068] angle_x, angle_y, angle_z are the angles of rotation around the XYZ axes respectively. The right-hand rule is followed for the positive direction, unit: deg). And it is stated that this Euler angle is an interior angle (rotation around the coordinate axis after the previous transformation), and the rotation sequence is Z - Y - X. From the mechanical structure, the transformation matrix is obtained:

[0069]

[0070] The normal vector is:

[0071] ;

[0072] where: ax = angle_x; ay = angle_y; az = 0;

[0073] From translation to Change the transformation matrix to a homogeneous form:

[0074] ;

[0075] Write the upper rotation axis point in a form convenient for calculation:

[0076] ;

[0077] This transformation is carried out around the origin O' of the R coordinate system. Then the transformation is completed in the R coordinate system and restored to the base coordinate system. In the R coordinate system, the upper rotation axis point is:

[0078] ;

[0079] where is the height of the upper rotation axis plane at the zero position

[0080] ;

[0081] Then the position of the transformed coordinate point (relative to the R coordinate system) is obtained:

[0082] ;

[0083] Then transform the coordinates back to the base coordinate system:

[0084] ;

[0085] Since there is a distance difference of h_thickness between the actual upper plane and the calculated upper plane, the offsets of the center point in the XYZ directions after deflection are respectively:

[0086] ;

[0087] ;

[0088] ;

[0089] Then the final position of the rotation axis point of the upper plane can be obtained:

[0090] ;

[0091] ;

[0092] ;

[0093] Refer to Figure 4 , which is used to illustrate the corresponding movement position relationship of the lower plane rotation axis point when the upper plane rotation axis point moves to a specific position. The figure shows how to calculate the positions ( , and , etc.) that the lower plane rotation axis point needs to move to according to the final positions (a', b' and c') of the upper plane rotation axis point, as well as the relevant vector calculations and coordinate transformation processes. It is a key movement relationship display diagram in the inverse solution operation.

[0094] Combined with the mechanical structure, to make the upper plane rotation axis point move to the above positions, the lower plane rotation axis point needs to move to:

[0095] ;

[0096] ;

[0097] ;

[0098] ;

[0099] ;

[0100] ;

[0101] ;

[0102] ;

[0103] ;

[0104] Finally, the output of the driving end is obtained:

[0105] .

[0106] Forward kinematic calculation: In motion control, it refers to the process of solving the platform attitude Q when the current position of the motion platform is known .

[0107] According to the platform geometric structure, the coordinates of the lower platform hinge points can be obtained as:

[0108] ;

[0109] ;

[0110] ;

[0111] Suppose the angle between the link z1 and the horizontal plane at this time is ; According to the mechanical relationship, it can be obtained that:

[0112] ;

[0113] Then, according to the fact that the link can only move in a certain plane, project point a into the motion plane of link z2 for calculation. From , and , the point is:

[0114] ;

[0115] ;

[0116] In the process of forward kinematic calculation, it is used to project point a into the motion plane of link z2, showing the process of establishing a new coordinate system Rb at point B, including the determination methods of each axis (X'-axis, Y'-axis, and Z'-axis) of the Rb coordinate system, and the relevant information of calculating the coordinates of point b through coordinate transformation in this coordinate system. It is a key diagram of the coordinate transformation and solution process in the forward kinematic calculation. Draw the projection plane, as shown in Figure 5 . Then, establish a new coordinate system at point B as Rb, with the direction as the X'-axis; direction as the Z'-axis; The Y'-axis is perpendicular to the plane spanned by X'Z'. The origin is point B.

[0117] ;

[0118] ;

[0119] Then the coordinate transformation matrix in the Rb coordinate system is written as:

[0120] ;

[0121] Written as a homogeneous form:

[0122] ;

[0123] First, transform the coordinates from the base coordinate system to the Rb coordinate system. The homogeneous form of the inverse transformation matrix is:

[0124] ;

[0125] (The inverse matrix of the identity matrix = its transpose matrix)

[0126] ;

[0127] Then, in the Rb coordinate system, the coordinates of point b_B are:

[0128] ;

[0129] where L_B is the projection of the line in this plane:

[0130] ;

[0131] edge is ;

[0132] So finally, it can be calculated that the coordinates of point b in the base coordinate system are:

[0133] ;

[0134] Calculate the coordinates of point c according to the above method.

[0135] The calculated result needs to satisfy: ; Solve for the value. Using the Newton-Raphson method, let:

[0136] ;

[0137] Obtain the equation ;

[0138] ;

[0139] ;

[0140] Until ( is the solution accuracy) then Satisfy the position P; then obtain the fulcrum coordinates of the upper plane at this position. Then the center point of the upper plane at this position is:

[0141] ;

[0142] The normal vector of the upper plane is:

[0143] ;

[0144] Then it can be obtained that:

[0145] ;

[0146] ;

[0147] ;

[0148] Let:

[0149] ;

[0150] Then the fulcrum of the upper plane before compensating for the plate thickness error is:

[0151] ;

[0152] Transform it to the R coordinate system:

[0153] ;

[0154] From it is obtained that:

[0155] ;

[0156] Here, the matrix right division algorithm is used, but since the matrix is a non-square singular matrix, so it is necessary to calculate the pseudo-inverse matrix of the given matrix. Since the matrix is singular, the obtained transformation matrix R is incomplete, and its ; but we know that is the normal vector of the platform, so let .

[0157] The transformation matrix can be written as: The quaternion of; the corresponding parameters are:

[0158] ;

[0159] ;

[0160] ;

[0161] ;

[0162] Then we can obtain

[0163] ;

[0164] ;

[0165] ;

[0166] This finally gives the attitude of the current platform:

[0167] .

[0168] According to the above process, the attitude of the platform finally calculated realizes the derivation from the driving action to the actual attitude of the platform.

[0169] By carrying out the specific operation steps of inverse kinematics and forward kinematics in detail, including matrix transformation, coordinate calculation, error compensation and using Newton iteration method to solve key parameters, etc. And the logic between the steps is tight and the calculation is rigorous, providing a feasible technical path for the precise control of the attitude adjustment platform in practical applications.

[0170] Through detailed kinematic calculations, including inverse solution operations and forward solution operations, the motion parameters of each axis of the platform can be accurately determined; in the inverse solution operation, according to the given platform attitude, the motion displacement of the lower plane rotation axis point is accurately calculated, and the output quantity is calculated, providing an accurate basis for the actual adjustment of the platform; in the forward solution operation, relevant equations are solved by the Newton iteration method, continuously approaching the attitude that satisfies the current position of the platform, and finally the accurate platform attitude is obtained, thus realizing the high-precision attitude adjustment of the platform; the attitude adjustment platform algorithm can be widely applied to fields with extremely high requirements for attitude adjustment accuracy such as wafer detection, optical detection, laser welding, etc.; in wafer detection, it can accurately adjust the platform attitude to ensure the accurate alignment of the detection equipment and the wafer, improving the accuracy and reliability of detection; in optical detection, it meets the harsh requirements of optical components for attitude accuracy and ensures the accuracy of detection results; in the field of laser welding, it accurately controls the platform attitude to realize high-precision welding operations and improve welding quality;

[0171] Fully considering the mechanical structure and motion characteristics of the platform, through establishing a suitable coordinate system and complex transformation matrix calculation, the effective control of the platform motion is realized; in the calculation process, factors such as the distance difference between the actual upper plane and the calculated upper plane are considered to compensate the platform motion, making the platform motion smoother and more accurate, and improving the performance and stability of motion control.

[0172] The above are only the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the concept described herein through the above teachings or the technology or knowledge in the relevant field. Any changes and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. A three-legged six-axis linkage attitude adjustment platform algorithm, applicable to a three-legged six-axis linkage attitude adjustment platform. The platform includes a static platform, a moving platform, and universal shafts. The universal shafts include upper and lower shafts inside for moving the three-legged six-axis attitude adjustment platform. It is characterized in that, The algorithm is used to control the motion path of the platform. The algorithm steps include: Step 1. Establish a coordinate system: Take the center of the circumscribed circle of the lower rotating shaft motion plane of the posture adjustment platform as the origin of the base coordinate system, and determine the directions of the X, Y, and Z axes; similarly, establish the R coordinate system. Step 2. Determine the zero position coordinates in the R coordinate system: Calculate the coordinates of the upper and lower hinge points of the three-link motion mechanism of the platform in the base coordinate system in the zero position state. Step 3. Inverse solution operation: Construct a transformation matrix according to the given attitude information of the platform, perform coordinate transformation on the upper rotating shaft point, calculate the distance difference of the plane for compensation, and obtain the final position of the upper plane rotating shaft point; According to the mechanical structure and the position of the upper plane rotating shaft point, calculate the motion position of the lower plane rotating shaft point, determine the output of the driving end, and realize the conversion from the target attitude of the platform to the driving action. Step 4. Forward solution operation: Based on the current link position of the platform, solve the actual attitude of the platform; First, determine the coordinates of the lower platform hinge point, set the angle between the link and the horizontal plane, and calculate the coordinates of the upper plane support point through projection and coordinate transformation; Solve the key angle parameters to obtain the coordinates and normal vector of the center point of the upper plane, and finally calculate the attitude of the platform, which is used to realize the derivation from the driving action to the actual attitude of the platform.

2. The algorithm of a three-legged six-axis linkage pose adjustment platform according to claim 1, characterized in that, The calculation formula for the zero position coordinate system in Step 2 is: ； ； ； Where a, b, and c are the upper rotating shafts of the platform motion axis connecting rods, r is the radius of the circumscribed circle of the three upper rotating shafts of the connecting rods, and R is the radius of the circumscribed circle of the three lower rotating shafts of the connecting rods.

3. The algorithm of a three-legged six-axis linkage posture adjustment platform according to claim 2, characterized in that In Step 2, the zero position coordinates of the lower hinge point are calculated as: ； ； ； Where A, B, and C are the lower rotating shafts of the platform motion axis connecting rods, R is the radius of the circumscribed circle of the lower rotating shafts of the three connecting rods A, B, and C, and l is the length of the connecting rod.

4. The algorithm of a three-legged six-axis linkage posture adjustment platform according to claim 3, wherein, In Step 3, the attitude information Q in Step 3 is: ； Where move_x, move_y, and move_z are the displacements in the X, Y, and Z directions respectively, and angle_x, angle_y, and angle_z are the angles of rotation around the X, Y, and Z axes respectively; The transformation matrix is: ； The normal vector of the transformation matrix is: ； Where ax = angle_x; ay = angle_y; az = angle_z.

5. The algorithm of a three-legged six-axis linkage posture adjustment platform according to claim 4, characterized in that In Step 3, the calculation formula for the final position of the upper plane rotating shaft point is: ； Among them, is the coordinate of the final position in the R coordinate system, is the coordinate of the upper rotation axis point.

6. The algorithm of a three-legged six-axis linkage posture adjustment platform according to claim 5, characterized in that, In Step 3, the calculation formula for the output of the driving end is: ； Where move_Ax, move_Ay, and move_Az are the downward displacement values in the X, Y, and Z directions respectively.

7. The algorithm of a three-legged six-axis linkage posture adjustment platform according to claim 6, characterized in that, In Step 4, the coordinates of the lower platform hinge point are: ； ； ； Among them, , and are the coordinates of the hinge fulcrum of the lower platform.

8. The algorithm of a three-legged six-axis linkage posture adjustment platform according to claim 6, characterized in that, In Step 4, the calculation formula for the coordinates of the upper plane support point is: 。 9. The algorithm of a three-legged six-axis linkage posture adjustment platform according to claim 6, wherein In Step 4, the calculation formula for the platform attitude is: ； ； ； ； Where Q is the attitude of the current platform.

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