Synthetic Design Of Outrigger Six-degree-of-freedom Posture Adjustment Platform Configuration

With the development of my country’s aerospace industry,spacecraft are showing a development trend of more demand,larger volume,and higher precision.At present,the attitude adjustment and docking process between most of the spacecraft and its components is still mainly manual adjustment.The traditional docking attitude platform has the characteristics of poor accuracy,low efficiency,limited installation space,and insufficient operational safety.Especially in the satellite solar wing docking assembly,it has become a bottleneck problem affecting the manufacturing process.In response to the needs of satellite solar wing docking and assembly,the current research status of various attitude adjustment mechanisms at home and abroad is analyzed,the six-degree-of-freedom branch chain configuration is enumerated,the evaluation criteria are established,the branch chain configuration is screened to build the attitude adjustment branch chain configuration library.Furthermore,based on the comprehensive analysis of the parallel mechanism,a modular outrigger parallel mechanism with a closed fixed platform on the ground is proposed,and the basic configuration of a six-degree-of-freedom parallel attitude adjustment platform is determined.Through engineering case design and performance analysis,the engineering value of the constructed spectral library is verified,and the theoretical foundation is laid for the innovative design of similar posture adjustment mechanisms.The main research contents of this paper are as follows:First,the six-degree-of-freedom single-branched configuration pedigree is constructed.Based on the basic constraints of the six-degree-of-freedom branch chain,the six-degree-of-freedom single-branched chain configuration series are enumerated through enumeration.From the perspective of degrees of freedom and mechanical properties,formulate the basic six-degree-of-freedom branch chain screening rules,optimize the branches,and construct a six-degree-of-freedom branch chain pedigree.Secondly,the basic theory of the ground closed six-degree-of-freedom attitude adjustment mechanism was formed.Based on the six-degree-of-freedom branch chain pedigree,according to the composition principle of the parallel mechanism,the configuration synthesis is carried out to construct a modular outrigger attitude adjustment mechanism with ground-closing characteristics,through the topology optimization of the branch chain layout,as well as the number of branch chains and the carrying capacity Between the analysis,construct the pedigree of six-degree-of-freedom attitude adjustment mechanism.At the same time,the related theories and methods of graph theory are put forward to provide a theoretical basis for the identification of isomorphism of modular branch-chain posture adjustment mechanisms.Third,the performance analysis of the six-degree-of-freedom attitude adjustment mechanism on the ground.Based on the pedigree of the six-degree-of-freedom attitude adjustment mechanism,the 4-PPPS parallel mechanism is determined as a ground-enclosed attitude adjustment robot configuration for actual attitude adjustment docking requirements.Combining with MATLAB software to make the performance analysis of the parallel mechanism.Finally,for the assembly requirements of the satellite solar wing,the outrigger design principles are formulated.According to the attitude adjustment requirements under different working conditions,the branch chain configuration is selected from the branch chain pedigree,and the structure design and analysis are carried out after the equivalent topology processing.Obtain practical engineering structure.It shows that the design theory of ground-closed six-degree-of-freedom parallel attitude adjustment mechanism has practical value in the innovative design of docking attitude adjustment equipment.