A 3-R(SRS)RP Multi-Loop Mechanism for Space Manipulation: Design, Kinematics, Singularity, and Workspace

Abstract

Abstract Space manipulation has great prospects in aerospace applications. In this work, a multiloop robot, namely 3-R(SRS)RP multiloop mechanism, is presented. Its design, kinematics, singularity, and workspace are studied. The novel design is mainly reflected in the robot’s structure, variable section, and novel compound hinge. Given these features, the forward-displacement undertaken with a closed-loop method leads to a complex mapping diagram. Only numerical solutions are obtained in this model due to the variable section parameter λ. This variable affects kinematic performances such as bending and folding properties. Moreover, the node differential kinematics and the Jacobian matrix are solved to analyze singular configurations of the mechanism. The workspace is then evaluated via a numerical method with varying λ. The bending and folding properties and the continuous workspace of the given robot vary while changing λ. Hence, the robot has great potentials of good performances in various applications. With this robot, a multimodule manipulator with a wide range of operations, increased mobility and rigidity, variable geometry, and adaptable shape based on mission requirements can be constructed.