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Due to the extensive area, lightweight construction, and hinged multi-panel connection, spacecraft solar panels exhibit low stiffness and weak damping properties, resulting in low-frequency vibration and nonlinear dynamic behavior. This paper proposes an adjustable-stiffness magnetic (ASM) joint as both structural and functional component for the drive and control of solar panels. First, joint structure design and adjustable-stiffness principle are introduced. Subsequently, a rigid, flexible coupling dynamic model of solar panel structure with ASM joints is established, considering the weight and rotational inertia of the joints. The eigen equation of the system is derived to obtain the natural frequencies and corresponding global modes of the system through Rayleigh-Ritz method. The inherent characteristics of the rigid flexible coupling system are explored. The extracted global modes effectively capture the characteristics of both rigid-body motion modes and elastic vibration modes, providing an accurate representation of its dynamic behaviour. Meanwhile, all the first four modes exhibit an increase in frequency with the increase of joint stiffness. Finally, a ground-scale experimental platform of panels with ASM joints is constructed. A significant frequency-shift phenomenon with variable stiffness is observed under impact excitation. Additionally, the accuracy of GMM is validated by experiments and finite element simulation. These findings will pave the way for further exploring vibration suppression methods for multiple spacecraft solar panels under ultra-low frequency excitation.