| The human exploration of outer space is accelerating,and China’s space industry is also developing at a high speed.Due to the characteristics of large volume,heavy load and high precision of large spaceflight equipment,as well as the requirements of precise docking and assembly between large spacecraft components,the assembly equipment should have the function of precise posture adjustment with six degrees of freedom in space.However,the design of 6-DOF parallel attitude adjustment mechanism has some problems,such as complex application scenarios,long innovation design cycle,lack of scheme evaluation theory,and dependence on designer’s experience.This paper aims at shortening the design cycle,starting from the requirements of mechanics and kinematics performance,and using configuration synthesis as a tool,carries out research on the theory and method of rapid innovative design.Firstly,an innovative design method for CAD 6-DOF single branched chain configuration library is created.In view of the shortage of innovation design cycle,a new method of configuration synthesis design of 6-DOF parallel mechanism was constructed by referring to the existing theory of configuration synthesis of parallel mechanism,and the combination condition constraint of 6-DOF single branch chain was proposed by using the inequality equations in mathematics.The mathematical expression definition of 6-DOF single branched chain is given,and the configuration library of 6-DOF single branched chain is obtained by programming solution.Secondly,the method of screening 6-DOF single branched chain based on functional conditions is studied.The existing simulation and evaluation methods for the series mechanism were selected,and the performance of the basic single branched chain in the 6-DOF single branched chain library was simulated and analyzed,and the evaluation system of the 6-DOF single branched chain was constructed by using the mathematical modeling method,which provided the basis for the design of the single branched chain of the 6-DOF parallel mechanism meeting the target conditions.Then,the 6-DOF parallel configuration of the target is determined.Taking the bearing capacity of the 6-DOF parallel mechanism as the constraint condition,the method of selecting the 6-DOF parallel configuration including the sequence of the kinematic pair of single branch chain and the number of single branch chain was studied.Several 6-DOF parallel mechanisms were evaluated by using the maximum and minimum load-bearing values of the existing parallel configurations,and the relatively optimized 6-DOF parallel mechanisms that met the target requirements were screened out.Based on the analysis of the specific application environment and the specific target requirements,the configuration was improved and optimized according to the engineering practice,and the final selected 6-DOF parallel mechanism structure was proposed.Finally,an example of intelligent innovative design method is given.According to the innovative design algorithm flow of the 6-DOF parallel mechanism configuration,a practical engineering project is taken as a case to design and solve the problems of its high load and low space.The feasibility of the design method and the timeliness of the design cycle are verified through an example analysis. |
