Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets

Author:

Zhao Chong1,Wang Ke1,Zhao Haifeng2,Guo Hongwei3,Liu Rongqiang3

Affiliation:

1. Chinese Academy of Sciences Technology and Engineering Center, for Space Utilization, , Beijing 100094 , China

2. Chinese Academy of Sciences Technology and Engineering Center for, Space Utilization, , Beijing 100094 , China

3. Harbin Institute of Technology State Key Laboratory of Robotics and System, , Harbin 150001 , China

Abstract

Abstract The kinematics and dynamics of n(3RRlS) reconfigurable series–parallel manipulators (RSPMs) are the theoretical foundations for capturing noncooperative targets in space. In this study, a unified kinematic and dynamic modeling method of n(3RRlS) RSPMs is proposed based on geometric constraints, the vector method, recursive and inductive methods, and the principle of recursive virtual power, and the kinematic and dynamic modeling progress has clear concepts, unified format, and fast calculation. Then, the theoretical and simulated results of the 3RRlS reconfigurable series–parallel manipulator (RPM) and 3(3RRlS) RSPM are compared verifying the correctness of the derived kinematic and dynamic models. Finally, the reconfiguration, position accuracy, and deformation measurement experiments of the two-driven-unit 3RRlS RPM and 3(3RRlS) RSPM are carried out, and the results show that the 3(3RRlS) RSPM has the advantages of high folding ratio, motion uncoupling, and stiffness improvement.

Funder

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

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