## 6 Conclusions  
In order to achieve precise docking between the two flanges during wing satellite assembly, a novel 6-DOF redundant parallel posture adjustment mechanism has been proposed in our early work, which has advantages such as geometric symmetry and modularity. However, the configuration of three links and four joints per limb increases the number of parameters compared to the limb with two links and three joints, which increases the difficulty of parameter optimization. This paper focuses on optimizing the parameters of this mechanism. 1. Based on the workspace volume, the sensitivity of each parameter of the parallel mechanism to the posture adjustment range is analyzed, and the results are as follows: with the increase in the length and width of the moving and fixed platforms, the posture adjustment range increases and then decreases; with the increase in \(\theta\) and \(\psi\), the posture adjustment range increases and then decreases, and with the increase in \(\phi\), the posture adjustment range decreases and then increases; the influence of the limb inclination angle \(\alpha\) on the range of posture adjustment is similar to \(\psi\). The range of posture adjustment is approximately linearly negatively correlated with the minimum limit of the two active driving pairs, whereas the maximum limit of the two active driving pairs affects the range of posture adjustment differently. The maximum limit of the second active driving pair is approximately linearly positively correlated with the range of posture adjustment, while the maximum limit of the first active driving pair has a smaller impact on the range of posture adjustment. 2. The ratio of workspace volume to mechanism volume is defined as the response value in this paper. It can be seen from the PB test that the influence ranking of each parameter on the range of posture adjustment is as follows: the drive trajectory of the second driving pair > the parameters of the moving and fixed platforms > the angles between the driving pairs > the drive trajectory of the first driving pair. The effect of the first four significant parameters is negative, while the effect of the fifth significant parameter is positive. 3. Solving the optimized regression equation for optimization with volume ratio as the objective, the optimal values of the five parameters were obtained: \(X_{9}=-224.759\), \(X_{0}=877.27\), \(X_{5}=1.574\), \(X_{3}=1498.308\), and \(X_{2}=924.974\). Then, the volume ratio was found to be \(\Re=0.064\), which increased by 43.82% compared to the pre-optimization ratio, proving the effectiveness of using the volume ratio as the response value for parameter optimization. 4. A comparative analysis of the range of posture adjustment before and after optimization showed that the volume increased from 9.8648 \(\times\) 10\({}^{7}\) to 1.11 \(\times\) 10\({}^{8}\), an increase of 12.52%. Finally, the prototype was developed based on the optimized mechanism parameters. The limitation of this paper is that only one method, Response Surface Methodology, is used, and the optimization results of this method are not compared with those of the other optimization methods, such as GA or Differential Evolution. The future research will compare and analyze the effect of different optimization methods on the parameter optimization of the parallel mechanism. In future work, we will analyze the performance of the mechanism and the control strategy for the prototype based on the results of the optimization of the mechanism parameters. Conceptualization, R.W. ; methodology, X.X. ; software, H.L. ; validation, R.W. ; data curation, H.L. ; writing--original draft preparation, R.W. ; writing--review and editing, X.X. and J.Z. ; visualization, H.L. ; supervision, X.X. ; project administration, J.Z. ; funding ac-quisition, J.Z. All authors have read and agreed to the published version of the manuscript. This research was funded by the National Natural Science Foundation of China (Grant No. 51905367). **Institutional Review Board Statement:** Not applicable.