Method and equipment for determining pose and working space of six-degree-of-freedom platform and medium

Abstract

The invention discloses a method and equipment for determining the pose and working space of a six-degree-of-freedom platform and a medium, and belongs to the field of six-degree-of-freedom platform design. The method comprises the following steps: step 1, permutation and combination are carried out to generate stroke script curves of a six-degree-of-freedom platform and six driving cylinders; 2, multi-body dynamics software modeling simulates and runs a six-cylinder driving script curve; 3, measuring the three-direction rotation angle of the center point of the upper platform, and tracking and describing the boundary feature points of the six-degree-of-freedom platform prototype to form track recording point data; 4, exporting feature point track recording data, projecting the feature point track recording data to an XY plane, a YZ plane and an XZ plane, and extracting an envelope contour of a recording point data set by using a polygon envelope function; and step 5, performing normal stretching on the three-plane envelope contour, and taking an intersection to form a final working envelope space. According to the method, the six-degree-of-freedom platform pose and the working envelope space can be efficiently and accurately obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of six-degree-of-freedom platform design, and in particular to a method for determining the posture and workspace of a six-degree-of-freedom platform. Background Art

[0002] A six-degree-of-freedom platform is a precision spatial motion simulation device commonly used for motion simulation testing in vehicles such as aircraft, ships, aerospace, and automobiles. It can simulate realistic motion environments, such as the acceleration and pushback sensations in racing and flight games, as well as simulating shear and longitudinal earthquake waves. It is widely used in flight simulation, robotics, precision measurement equipment, virtual reality, and amusement parks.

[0003] The pose of a six-degree-of-freedom platform refers to the position and orientation of an object in space, including the three degrees of freedom of movement (in the Cartesian coordinate axes) and the degrees of freedom of rotation about these three axes. The workspace is the set of spatial points that can be reached by the reference point of the six-degree-of-freedom platform's end-effector under certain conditions. Determining the pose and workspace of a six-degree-of-freedom platform is the foundation and prerequisite for trajectory planning. The main analytical methods are analytical and discrete methods. Analytical methods primarily use forward or inverse position formulas to derive pose boundaries or pose extrema, but this is cumbersome and often fails to yield numerical solutions. Discrete methods, such as the Monte Carlo method or pseudo-random method, are the most commonly used. These methods discretize the workspace into multiple independent points and determine the platform's workspace by enveloping these discrete points. However, based on the theory of probability and statistics, the accuracy of the workspace constructed by the Monte Carlo method depends on the number of randomly sampled points. Insufficient sampling points can easily lead to missed solutions, resulting in noisy, non-smooth, and poorly accurate workspace envelopes, hindering the determination of accurate motion boundaries.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a method, device and medium for determining the posture and workspace of a six-degree-of-freedom platform, which can approximately and exhaustively obtain the posture and work envelope space of the six-degree-of-freedom platform, and well solve the technical problem that when the number of sampling points is insufficient, it is easy to cause missed solutions, resulting in large noise, roughness and poor accuracy of the enveloped workspace, which is not conducive to obtaining accurate motion boundaries.

[0006] The purpose of the present invention is achieved through the following technical solutions: A method for determining the position and workspace of a six-degree-of-freedom platform, comprising: Step 1, generating a six-drive cylinder stroke displacement curve of a six-degree-of-freedom platform with a to-be-determined posture and workspace by permutation and combination; Step 2: Using multi-body dynamics software, a virtual prototype dynamic simulation calculation model corresponding to the six-degree-of-freedom platform with the to-be-determined posture and workspace is established. The six-drive cylinder stroke displacement curve and the corresponding discrete step length of the data generated in Step 1 are used as input. A numerical solution is performed using the virtual prototype dynamic simulation calculation model. Tracking markers with attached coordinate systems are established at the center of the upper platform of the six-degree-of-freedom platform and at the structural boundary feature points in the front-to-back, left-to-right, and top-to-bottom directions of the upper platform. Step 3: Using a virtual prototype dynamic simulation model, the three-dimensional rotation angles of the upper platform center point of the six-degree-of-freedom platform in the world coordinate system are measured to generate upper platform posture data, and the boundary feature points of the six-degree-of-freedom platform are tracked to generate a feature point trajectory record data set. Step 4: After exporting the feature point trajectory record dataset and projecting it onto the XY plane, YZ plane, and XZ plane of the world coordinate system where the six-degree-of-freedom platform is located, the polygon envelope function is used to extract the envelope contour of the feature point trajectory record dataset in each plane; Step 5: Stretch the envelope contours of the XY plane, YZ plane, and XZ plane in the normal direction along the planes where they are located, and take the envelope space formed by the intersection of the three stretched envelope contours as the working space of the six-degree-of-freedom platform.

[0007] A processing device comprising: at least one memory for storing one or more programs; At least one processor is capable of executing one or more programs stored in the memory. When the one or more programs are executed by the processor, the processor is enabled to implement the method described in the present invention.

[0008] A readable storage medium stores a computer program, which can implement the method described in the present invention when the computer program is executed by a processor.

[0009] Compared with the prior art, the method, device, and medium for determining the position and workspace of a six-degree-of-freedom platform provided by the present invention have the following beneficial effects:

[0010] By employing a permutation and combination approach, a sinusoidal drive displacement script curve can be generated at a relatively high discrete frequency. This curve essentially encapsulates all possible motions of a six-degree-of-freedom platform. A simplified wireframe model of the six-degree-of-freedom platform is established using multibody dynamics software, enabling numerical solutions with smaller time steps, further improving the probability of six-cylinder posture combinations. By tracking the trajectory of the six-degree-of-freedom platform's end-device feature points and exporting the trajectory coordinate data, the data is projected onto the XY, YZ, and XZ planes of the world coordinate system. A polygonal envelope function is then used to extract the envelope contour of the recorded point data set. The three-plane envelope contours are then stretched along the normal direction and intersected to form the final workspace envelope. This method effectively overcomes some of the shortcomings of existing six-degree-of-freedom platform pose and workspace acquisition methods, including analytical and discrete methods. The resulting workspace is smooth and highly accurate, with no missed solutions and accurate motion boundaries. Its streamlined and efficient operation workflow makes it widely applicable to the design of poses and workspaces for six-degree-of-freedom platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 Flowchart of a method for determining the posture and workspace of a six-degree-of-freedom platform provided in an embodiment of the present invention.

[0013] Figure 2 Schematic diagram of the arrangement and combination of the stroke states of six drive cylinders in the method for determining the position and workspace of a six-degree-of-freedom platform provided in an embodiment of the present invention.

[0014] Figures 3 to 8 This is a schematic diagram of the displacement timing curves of 63 combinations of six drive cylinders, excluding the all-zero-position static combination, in the method for determining the posture and workspace of a six-degree-of-freedom platform provided in an embodiment of the present invention. Among them, the full-process combined displacement timing curves of drive cylinders 1 to 6 can be started at any of the six cylinders and numbered sequentially.

[0015] Figure 9 Schematic diagram of the six-degree-of-freedom platform workspace envelope generated by the method for determining the six-degree-of-freedom platform posture and workspace provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the specific content of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments, and do not constitute a limitation of the present invention. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0017] First, the following terms may be used in this article: The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y includes both “X” or “Y” and “X and Y”.

[0018] The terms "include," "comprises," "contains," "has," or other similar expressions should be interpreted as non-exclusive. For example, "including certain technical features (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products, or manufactured articles)" should be interpreted as including not only the technical features explicitly listed, but also other technical features known in the art that are not explicitly listed.

[0019] The term "consisting of" excludes any technical features not explicitly listed. If used in a claim, this term renders the claim closed, excluding any technical features other than those explicitly listed, except for conventional impurities associated with them. If this term appears only in a clause of a claim, it limits only the elements explicitly listed in that clause; elements listed in other clauses are not excluded from the claim as a whole.

[0020] Unless otherwise specified or limited, the terms "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this document based on specific circumstances.

[0021] The terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation to this document.

[0022] The scheme provided by the present invention is described in detail below. The contents not described in detail in the examples of the present invention belong to the prior art known to professionals in this field. If specific conditions are not specified in the examples of the present invention, they are carried out according to conventional conditions in the field or conditions recommended by the manufacturer. If the manufacturer of the reagents or instruments used in the examples of the present invention is not specified, they are all conventional products that can be purchased commercially.

[0023] like Figure 1 As shown, an embodiment of the present invention provides a method for determining the posture and workspace of a six-degree-of-freedom platform, including: Step 1, generating a six-drive cylinder stroke displacement curve of a six-degree-of-freedom platform with a to-be-determined posture and workspace by permutation and combination; Step 2: Using multi-body dynamics software, a virtual prototype dynamic simulation calculation model corresponding to the six-degree-of-freedom platform with the to-be-determined posture and workspace is established. The six-drive cylinder stroke displacement curve and the corresponding discrete step length of the data generated in Step 1 are used as input. A numerical solution is performed using the virtual prototype dynamic simulation calculation model. Tracking markers with attached coordinate systems are established at the center of the upper platform of the six-degree-of-freedom platform and at the structural boundary feature points in the front-to-back, left-to-right, and top-to-bottom directions of the upper platform. Step 3: Using a virtual prototype dynamic simulation model, the three-dimensional rotation angles of the upper platform center point of the six-degree-of-freedom platform in the world coordinate system are measured to generate upper platform posture data, and the boundary feature points of the six-degree-of-freedom platform are tracked to generate a feature point trajectory record data set. Step 4: After exporting the feature point trajectory record dataset and projecting it onto the XY plane, YZ plane, and XZ plane of the world coordinate system where the six-degree-of-freedom platform is located, the polygon envelope function is used to extract the envelope contour of the feature point trajectory record dataset in each plane; Step 5: Stretch the envelope contours of the XY plane, YZ plane, and XZ plane in the normal direction along the planes where they are located, and take the envelope space formed by the intersection of the three stretched envelope contours as the working space of the six-degree-of-freedom platform.

[0024] Preferably, in step 1 of the above method, the six-drive cylinder stroke displacement curve of the six-degree-of-freedom platform of the to-be-determined posture and workspace is generated in a permutation and combination manner in the following manner, including: The six-axis drive cylinder stroke of the six-degree-of-freedom platform with the to-be-determined posture and workspace is arranged and combined according to the state, the stroke extreme value represented by 1, and the stroke zero position represented by 0, to produce a total of Various cylinder stroke state combinations; For each combination of cylinder stroke states, the amplitude is the stroke S × the state bit represented by 0 or 1, and the time period calculated by the cylinder stroke and maximum speed is used as the constraint condition. A sinusoidal drive displacement script curve is generated at a predetermined discrete frequency to cover all the motion probabilities of the six-degree-of-freedom platform operation, which is the six-drive cylinder stroke displacement curve.

[0025] Preferably, in the above method, the predetermined discrete frequency is 10 Hz or 100 Hz.

[0026] Preferably, in step 2 of the above method, a virtual prototype dynamic simulation calculation model corresponding to the six-degree-of-freedom platform with the to-be-determined posture and workspace is established by multi-body dynamics software in the following manner, including: According to the arrangement of the circumscribed circles of the upper and lower platform hinges of the six-degree-of-freedom platform with the to-be-determined posture and workspace, a cylindrical wireframe is used to connect the upper and lower hinges corresponding to the cylinder axis through multi-body dynamics software and a kinematic pair relationship is established to form a correct and movable dynamic simulation calculation model of the six-degree-of-freedom platform virtual prototype.

[0027] Preferably, in step 2 of the above method, the discrete step length of the data input as the solution step length is not less than the discrete step length of the data used in step 1 to generate the six-drive cylinder stroke displacement curve of the six-degree-of-freedom platform with the to-be-determined posture and workspace.

[0028] Preferably, in the above method, the discrete data steps used as the solution step size complement the discrete data steps used to generate the stroke displacement curve of the six-drive cylinders of the six-degree-of-freedom platform whose pose and workspace are to be determined. This complementarity refers to further spline or polynomial interpolation of intermediate data points at the discrete steps of the stroke displacement curve using a smaller solution step size, resulting in a higher frequency and richer sample of solution data points for the pose and workspace, thereby further increasing the probability of the six-drive cylinder posture combination.

[0029] Preferably, in step 4 of the above method, after the feature point trajectory record data set is exported and projected onto the XY plane, YZ plane, and XZ plane of the world coordinate system where the six-degree-of-freedom platform is located, projection and contour polygon recognition within the XY plane, YZ plane, and XZ plane are required, including: Recognition is performed based on a curvature-based boundary extraction algorithm, or through the point cloud contour recognition encapsulation function of existing recognition software.

[0030] Extract the polygonal envelope function of the envelope contour of the feature point trajectory record data set of each plane

[0031] Preferably, in the above method, the existing recognition software is Matlab or Python.

[0032] An embodiment of the present invention further provides a processing device, comprising: at least one memory for storing one or more programs; At least one processor can execute one or more programs stored in the memory, and when the one or more programs are executed by the processor, the processor can implement the above method.

[0033] An embodiment of the present invention further provides a readable storage medium storing a computer program, wherein the computer program can implement the above method when executed by a processor.

[0034] In summary, the method provided by the embodiments of the present invention, through the use of permutations and combinations, can generate a sinusoidal drive displacement script curve at a relatively high discrete frequency. This curve essentially encapsulates all possible motions of a six-degree-of-freedom platform. By simplifying the six-degree-of-freedom platform's dimensional wireframe model using multibody dynamics software, numerical solutions can be performed with a smaller time step, further improving the six-cylinder posture combination probability. By tracking the trajectory of the six-degree-of-freedom platform's terminal device's characteristic points, exporting the trajectory coordinate data, and projecting it onto the XY, YZ, and XZ planes of the world coordinate system, a polygonal envelope function is used to extract the envelope contour of the recorded point data set. The three-plane envelope contours are then stretched along the normal direction and intersected to form the final working envelope space. This method effectively overcomes some of the shortcomings of existing six-degree-of-freedom platform pose and workspace acquisition methods, including analytical and discrete methods. The resulting enveloped workspace is smooth and highly accurate, with no missed solutions and accurate motion boundaries. The operational process is simple and efficient, making it widely applicable to the design of six-degree-of-freedom platform poses and workspaces.

[0035] In order to more clearly demonstrate the technical solution and technical effects provided by the present invention, the solution provided by the embodiment of the present invention is described in detail with reference to specific embodiments below.

[0036] Example 1 like Figure 1 As shown, this embodiment provides a method for determining the posture and workspace of a six-degree-of-freedom platform, which is used for designing the posture and workspace of the six-degree-of-freedom platform, including: Step 1: Generate the script curve of the six-degree-of-freedom platform and six-drive cylinder stroke by permutation and combination: The six drive cylinder strokes are generated according to the state, stroke extreme value (1), and stroke zero position (0). There are several combinations of cylinder stroke states, such as Figure 2As shown in the figure. For each state combination, with the stroke S × state bit (0 or 1) as the amplitude and the time period calculated by the cylinder stroke and maximum speed as the constraint condition, a sinusoidal drive displacement script curve is generated at a certain discrete frequency (such as 10Hz, 100Hz, etc.). This curve basically envelops all the motion probabilities of the six-degree-of-freedom platform. Figures 3 to 8 The figure shows the displacement curve of six cylinders with a stroke of 500 mm and a maximum speed of 500 mm / s generated at a frequency of 10 Hz. The six cylinders can be started at any one and numbered sequentially.

[0037] In this step 1, a sinusoidal drive displacement script curve is generated by using a permutation and combination method at a relatively high discrete frequency. The curve basically envelops all the motion probabilities of the six-degree-of-freedom platform.

[0038] Step 2: Use multi-body dynamics software to simulate and run the six-cylinder drive script curve: Based on the arrangement of the circumscribed circles of the six-cylinder upper and lower platform hinges, a cylindrical wireframe was used to connect the cylinder axes to the corresponding upper and lower hinges, and kinematic pairs were established to form a correct and movable dynamic simulation model for the virtual prototype of the six-degree-of-freedom platform. The six-cylinder displacement drive curve generated in step 1) was input and numerically solved with a discrete step length (1 / frequency) no less than that of step 1). This step length complemented the discrete frequency of the sinusoidal data in step 1) to further improve the probability of six-cylinder posture combinations. After the numerical solution was completed, tracking markers with attached coordinate systems were established at the center of the upper platform and at the structural boundary feature points in the fore-aft, left-right, and up-down directions.

[0039] In this step 2, a wireframe model of the six-degree-of-freedom platform size is simplified by multi-body dynamics software, and numerical solutions are performed with a smaller time step to further improve the probability of six-cylinder posture combinations.

[0040] Step 3: Measure the three-direction rotation angles of the center point of the upper platform, track and depict the boundary feature points of the six-degree-of-freedom platform prototype, and form trajectory recording point data.

[0041] The three-axis angle measurement of the world coordinate system is performed on the center mark point of the upper platform to form the platform posture data; the trajectory coordinate tracking measurement is established for the boundary feature mark points of the upper platform.

[0042] Step 4: Export the feature point trajectory record data, project it onto the XY plane, YZ plane, and XZ plane, and use the polygon envelope function to extract the envelope contour of the record point data set.

[0043] Export the point cloud coordinate data of the feature point trajectory tracking in step 3) and perform projection and contour polygon recognition in the XY plane, YZ plane, and XZ plane. This step can be implemented by programming based on the curvature boundary extraction algorithm or with the help of the point cloud contour recognition encapsulation function of mature software (such as Matlab, Python, etc.).

[0044] Step 5: The three-plane envelope contours are stretched in the normal direction and the intersection is taken to form the final working envelope space.

[0045] The polygons identified by the three plane views form a closed contour and are stretched along the plane normal respectively. The intersection operation of the three stretched entities is performed to obtain the final workspace of the six-degree-of-freedom platform. Figure 4 FIG. 1 shows a large-scale six-degree-of-freedom manned equipment and the final working space envelope formed by the method of the present invention.

[0046] In steps 3 through 5 above, the trajectory of the characteristic points of the six-freedom platform's end-device is tracked, the trajectory coordinate data is exported, and after projecting onto the XY, YZ, and XZ planes, a polygonal envelope function is used to extract the envelope contour of the recorded point data set. The three-plane envelope contours are then stretched and intersected to form the final working envelope space. This method overcomes some of the shortcomings of existing six-freedom platform pose and workspace acquisition methods, including analytical and discrete methods. The resulting enveloped workspace is smooth and highly accurate, with no missed solutions and accurate motion boundaries. Its simple and efficient operation process makes it widely applicable in the design phase of six-freedom platforms.

[0047] It can be seen that the method of the present invention can also be used in the posture and workspace design of three-freedom platforms and Delta-type parallel manipulators, and can also be used in other similar multi-joint parallel structure products.

[0048] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0049] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art.

Claims

1. A method for determining the position and workspace of a six-degree-of-freedom platform, characterized in that: include: Step 1, generating a six-drive cylinder stroke displacement curve of a six-degree-of-freedom platform with a to-be-determined posture and workspace by permutation and combination; Step 2: Using multi-body dynamics software, a virtual prototype dynamic simulation calculation model corresponding to the six-degree-of-freedom platform with the to-be-determined posture and workspace is established. The six-drive cylinder stroke displacement curve and the corresponding discrete step length of the data generated in Step 1 are used as input. A numerical solution is performed using the virtual prototype dynamic simulation calculation model. Tracking markers with attached coordinate systems are established at the center of the upper platform of the six-degree-of-freedom platform and at the structural boundary feature points in the front-to-back, left-to-right, and top-to-bottom directions of the upper platform. Step 3: Using a virtual prototype dynamic simulation model, the three-dimensional rotation angles of the upper platform center point of the six-degree-of-freedom platform in the world coordinate system are measured to generate upper platform posture data, and the boundary feature points of the six-degree-of-freedom platform are tracked to generate a feature point trajectory record data set. Step 4: After exporting the feature point trajectory record dataset and projecting it onto the XY plane, YZ plane, and XZ plane of the world coordinate system where the six-degree-of-freedom platform is located, the polygon envelope function is used to extract the envelope contour of the feature point trajectory record dataset in each plane; Step 5: Stretch the envelope contours of the XY plane, YZ plane, and XZ plane in the normal direction along the planes where they are located, and take the envelope space formed by the intersection of the three stretched envelope contours as the working space of the six-degree-of-freedom platform.

2. The method for designing and determining the posture and workspace of a six-degree-of-freedom platform according to claim 1, characterized in that: In step 1, the six-drive cylinder stroke displacement curve of the six-degree-of-freedom platform of the to-be-determined posture and workspace is generated in a permutation and combination manner in the following manner, including: The six-axis drive cylinder stroke of the six-degree-of-freedom platform with the to-be-determined posture and workspace is arranged and combined according to the state, the stroke extreme value represented by 1, and the stroke zero position represented by 0, to produce a total of Various cylinder stroke state combinations; For each combination of cylinder stroke states, the amplitude is the stroke S × the state bit represented by 0 or 1, and the time period calculated by the cylinder stroke and maximum speed is used as the constraint condition. A sinusoidal drive displacement script curve is generated at a predetermined discrete frequency to cover all the motion probabilities of the six-degree-of-freedom platform operation, which is the six-drive cylinder stroke displacement curve.

3. The method for designing and determining the posture and workspace of a six-degree-of-freedom platform according to claim 2, characterized in that: The predetermined discrete frequency is 10 Hz or 100 Hz.

4. The method for designing and determining the posture and workspace of a six-degree-of-freedom platform according to any one of claims 1 to 3, characterized in that: In step 2, a virtual prototype dynamic simulation calculation model corresponding to the six-degree-of-freedom platform with the to-be-determined posture and workspace is established by multi-body dynamics software in the following manner, including: According to the arrangement of the circumscribed circles of the upper and lower platform hinges of the six-degree-of-freedom platform with the to-be-determined posture and workspace, a cylindrical wireframe is used to connect the upper and lower hinges corresponding to the cylinder axis through multi-body dynamics software and a kinematic pair relationship is established to form a correct and movable dynamic simulation calculation model of the six-degree-of-freedom platform virtual prototype.

5. The method for designing and determining the posture and workspace of a six-degree-of-freedom platform according to claim 4, characterized in that: In step 2, the discrete step length of the data input as the solution step length is not less than the discrete step length of the data used in step 1 to generate the six-drive cylinder stroke displacement curve of the six-degree-of-freedom platform with the to-be-determined posture and workspace.

6. The method for designing and determining the posture and workspace of a six-degree-of-freedom platform according to claim 5, characterized in that: The data discrete steps used as the solution step length are complementary to the data discrete steps used to generate the six-drive cylinder stroke displacement curve of the six-degree-of-freedom platform whose posture and workspace are to be determined.

7. The method for designing and determining the posture and workspace of a six-degree-of-freedom platform according to claim 4, characterized in that: In step 4, after the feature point trajectory record dataset is exported and projected onto the XY plane, YZ plane, and XZ plane of the world coordinate system where the six-degree-of-freedom platform is located, projection and contour polygon recognition within the XY plane, YZ plane, and XZ plane are required, including: Recognition is performed based on the curvature boundary extraction algorithm, or through the point cloud contour recognition package function of the existing recognition software; Extract the polygonal envelope function of the envelope contour of the feature point trajectory record data set of each plane.

8. The method for designing and determining the posture and workspace of a six-degree-of-freedom platform according to claim 7, characterized in that: The existing recognition software is Matlab or Python.

9. A processing device, characterized in that include: at least one memory for storing one or more programs; At least one processor is capable of executing one or more programs stored in the memory, and when the one or more programs are executed by the processor, the processor is capable of implementing the method according to any one of claims 1 to 8.

10. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 can be implemented.

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