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.

中文翻译：

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基于冗余约束并联机构的机舱姿态调整方法

姿态调整在航天器制造中起着重要作用。传统的调姿方式工作量大，调姿质量难以保证，已不能满足现代航天器制造的要求。本文旨在优化姿态调节的轨迹，降低姿态调节机构的内力，提高系统的精度。,首先通过激光跟踪仪测量测点，解决机舱位置姿态问题。 . 然后，使用牛顿-欧拉方法构建无内力的姿态调节系统（PAS）的动力学模型。最后基于斐波那契搜索法优化调整时间,利用五阶多项式拟合机舱轨迹,仿真结果表明, 与其他轨迹规划方法相比，该方法可以有效避免冗余驱动引起的姿态调整内力，得到的速度和加速度轨迹是连续的，满足工程约束。,本文建立了PAS的动力学模型无内力构造。基于该模型的姿态调整轨迹规划可以提高机舱组装质量。