The invention relates to a space mechanical arm capable of being folded, stretched and contracted. The space mechanical arm comprises a base, a first connecting rod module, a second connecting rod module, a third connecting rod module, a fourth connecting rod module, a fifth connecting rod module, a middle passive two-freedom-degree suspension device, a sixth connecting rod module, a seventh connecting rod module and a tail end passive two-freedom-degree suspension device. Each connecting rod module is provided with a shell, an output flange and a power source which is contained in the shell and driving the output flange. The output flange of the first connecting rod module is installed on the base. The shell of the second connecting rod module is fixedly connected with the shell of the first connecting rod module. Starting from the third connecting rod module, the shell of each connecting rod module is fixedly connected with the output flange of the previous connecting rod module. Theoutput flange of the seventh connecting rod module is provided with the tail end passive two-freedom-degree suspension device, and the middle portion is installed between the fifth connecting rod module and the sixth connecting rod module through the two-freedom-degree suspension device. The space mechanical arm has a folding function in configuration, the occupied space is reduced, the stretching and contracting freedom degrees are achieved, and the work space is enlarged.

本发明涉及一种可折叠伸缩的空间机械臂，包括底座、连杆一模块、连杆二模块、连杆三模块、连杆四模块、连杆五模块、中部被动二自由度悬吊装置、连杆六模块、连杆七模块及末端被动二自由度悬吊装置，每个连杆模块均具有外壳、输出法兰及容置于外壳内部并驱动输出法兰的动力源，连杆一模块的输出法兰安装在底座上，连杆二模块的外壳与连杆一模块的外壳固接，自连杆三模块开始，各连杆模块的外壳均与前一连杆模块的输出法兰固接，连杆七模块的输出法兰上安装有末端被动二自由度悬吊装置，中部被动二自由度悬吊装置安装于连杆五模块与连杆六模块之间。本发明构型具有折叠功能，减小了占用空间，具有伸缩自由度，增加了作业空间。