Design and Analysis of Precision Attitude Adjustment Mechanism for Large Space Antenna

In this paper, a 3RPS-1SPU parallel mechanism is proposed to meet the requirement of adjusting the position and attitude of spaceborne large antenna. The kinematics constraint equation of the mechanism is obtained by modeling in Cartesian coordinate system. Combining with the forward and inverse kinematics model established in Adams-Matlab, the space of adjusting the attitude of the mechanism is analyzed, which meets the optimization of the design index. Based on the kinematic analysis and numerical simulation of the structured branched chain, the macro-micro branched chain driving mode is determined to ensure the high precision and large range attitude adjustment performance of the antenna in the confined space provided by the satellite.