Cabin posture adjustment method based on redundant constrained parallel mechanism

Posture adjustment plays an important role in spacecraft manufacturing. The traditional posture adjustment method, which has a large workload and is difficult to guarantee the quality of posture adjustment, cannot meet the requirements of modern spacecraft manufacturing. This paper aims to optimize the trajectory of posture adjustment, reduce the internal force of the posture adjustment mechanism and improve the accuracy of the system.

First, the measuring point is measured by a laser tracker and the position and posture of the cabin is solved. Then, Newton–Euler method is used to construct the dynamic model of the posture adjustment system (PAS) without internal force. Finally, the adjustment time is optimized based on Fibonacci search method and the trajectory of the cabin is fitted by the fifth order polynomial.

The simulation results show that, compared with the other trajectory planning methods, this method can effectively avoid the internal force of posture adjustment caused by redundant driving, and the trajectory of velocity and acceleration obtained are continuous, meeting the engineering constraints.

In this paper, a dynamic model of PAS without internal force is constructed. The trajectory planning of posture adjustment based on this model can improve the quality of cabin assembly.