Configuration Synthesis of Ground Closed 6-DOF Parallel Posture Adjustment Platform

In view of the limited configuration of spacecraft docking posture adjustment equipment, a ground closed six degree of freedom (6-DOF) parallel attitude adjustment configuration library is constructed. Firstly, the single branch chain configurations with six degrees of freedom are enumerated, which are screened based on local degrees of freedom and mechanical property constraints, and the single branch chain pedigree is constructed. Secondly, the configuration synthesis is carried out by using GF set, the topology optimization and load carrying performance of the chain are analyzed, and the isomorphism identification of the configuration is completed by graph theory. Finally, the configuration library of the parallel posture adjustment platform is constructed. Taking 4-PPPS (P: prismatic pair, S: spherical joint) mechanism as an example, the configuration equivalence and performance evaluation are carried out. The results show that the mechanism has unique position inverse solution, large workspace and no singular configuration. The configuration library of parallel posture adjustment platform provides the basis and idea of configuration design for the design of docking posture adjustment equipment, and has guiding significance for the engineering design of posture adjustment equipment.