| Citation: | FANG Hairong, WANG Li, ZHANG Haiqiang, et al. Design and analysis of a novel parallel mechanism with closed-loop limbs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(3): 454-463. doi: 10.13700/j.bh.1001-5965.2018.0411(in Chinese)
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In order to meet the requirements of high stiffness and accuracy of the position and posture adjusting mechanism in the assembly process of spacecraft shell, a novel 5-U(RRP)S/(8U)PU parallel mechanism with closed-loop limbs, which are improved from conventional limb structure, is proposed and analyzed. The degree of freedom of the mechanism is calculated by screw theory. The positional positive and negative solutions are figured out through establishing the seal vector constraints equation. The complete Jacobian matrix is calculated by screw theory. The fixed posture workspace is drawn by the restrained link length. The changes of mechanism stiffness with the position and posture are analyzed by solving the static stiffness matrix. The software is used to simulate and compare with the general mechanism. Through the above analysis, the feasibility and practical application value are verified, which lays the foundation for the automatic assembly process of spacecraft shell.
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