Nonlinear kinematics of space parallel robot with Bricard mechanism

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Nonlinear kinematics of space parallel robot with Bricard mechanism

Liu, Fei / Guo, Chuandong / Hu, Quan / Li, Xiaohui / Liu, Weihui / Wen, Wen / Liu, Lei / Zhao, Jingchao

Abstract The space parallel robot with Bricard mechanism (SPRBM) is a complex mechanical device used for capturing free-floating space debris. It consists of a 3-RRS (Revolute-Revolute-Spherical Joints) parallel mechanism and a Bricard mechanism. Space debris can be captured by the interior space of the SPRBM. Compared with the conventional manipulator system, the SPRBM can capture a target with an arbitrary shape and motion state if the target can be enwrapped by the mechanism. In addition, it does not impose any stringent requirement on the locations of the capture points on the debris. However, the SPRBM has complex configurations and therefore nonlinear kinematics. This paper presents a detailed kinematics analysis of the SPRBM. The analysis involves the degrees of freedom, singularity, forward and inverse kinematics, workspace, and the trajectory planning method. These analyses and the results provide the fundamentals for modeling and controlling the SPRBM.

Highlights • The degrees of freedom and motion constraints of the SPRBM are analytically determined. • The singular configuration of the SPRBM is also investigated. • The forward and inverse kinematic models of the SPRBM are established. • The working curve of the Bricard mechanism is analytically determined. • The applicable capture modes and workspaces of the SPRBM are analyzed.

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Dokumentinformationen

Titel :

Nonlinear kinematics of space parallel robot with Bricard mechanism

Beteiligte:

Liu, Fei (Autor:in) / Guo, Chuandong (Autor:in) / Hu, Quan (Autor:in) / Li, Xiaohui (Autor:in) / Liu, Weihui (Autor:in) / Wen, Wen (Autor:in) / Liu, Lei (Autor:in) / Zhao, Jingchao (Autor:in)

Erschienen in:

Acta Astronautica ; 208 ; 367-380

Erscheinungsdatum :

2023-04-15

Format / Umfang :

14 pages

ISSN :

0094-5765

DOI :

https://doi.org/10.1016/j.actaastro.2023.04.030

Medientyp :

Aufsatz (Zeitschrift)