中文摘要：

针对异型金属壳体和防热套部件精确装配的特殊要求,分析确定了用于装配精确定位的位姿调整机构的基本组成,以及3R-P-2R2T位姿调整机构的自由度组合方案.重点对2R2T金属壳体位姿调整机构进行了设计与分析,提出了一种新型4-UPS/UPP对称位姿调整并联机构,完成相应的支链结构配置,并利用螺旋理论对机构自由度进行计算.结果表明：所提新型机构能够满足金属壳体的位姿调整要求.

英文摘要：

According to the assembly requirements for weird complex metal shell and heat shield, the function and basic components of posture adjustment mechanism is determined for precise positioning assembly. Also 3R-P-2R2T as degree of freedom （DOF） combination plan is analyzed and determined. We focus on the design and analysis of 2R2T posture adjustment mechanism for metal shell, put for- ward a new 4-UPS/UPP spatial parallel mechanism, complete the structure configuration of branch chains and use screw theory to calculate the DOF of the mechanism. The results show that the pro- posed new mechanism can meet the requirements of the position adjustment mechanism of the metal shell.