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中文摘要：
针对大型设备装配过程中侧壁板装配位姿调整,设计了等效并联结构调姿平台,并对其进行平台构型分析。在此基础上定义了调整对象空间姿态矢量矩阵,基于平台的运动学分析,采用五次多项式实现了调姿对象的光滑轨迹规划。并通过实际物理平台验证了平台设计与轨迹规划的可行性和有效性。
英文摘要：
The attitude adjustment platform with equivalent parallel structure was designed aiming at assembly posture alignment of side panel for large-scale equipment assembly.The platform configuration was analyzed.The spatial attitude vector was defined for adjustment objects.Based on platform kinematics analysis,smooth trajectory planning for adjustment objects was realized using quintic polynomial.The feasibilities of the platform and the trajectory planning were validated through actual physical platform.
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