Abstract
The SSRMS-type space manipulators have been playing important roles in many on-orbit servicing tasks. However, most of them cannot flexibly change their workspace since the lengths of the links are fixed. Therefore, the ability of these manipulators to perform different tasks is limited. In this paper, we present a novel SSRMS-type reconfigurable manipulator with lockable passive telescopic links. When the manipulator forms a closed kinematic chain, the manipulator achieves reconfiguration by changing the lengths of the telescopic links, so that the manipulator can perform a variety of tasks. Based on the new manipulator, we propose inverse kinematics (IK) solution method named the CCDJAP-IK method. This method is based on a combination of the cyclic coordinate descent (CCD) method and the joint angle parameterization (JAP) method and has the advantages of being insensitive to Jacobian matrix singularities, avoiding joint limits, and finding multiple exact solutions. Finally, simulation experiments are presented for the proposed manipulator, and the results demonstrate the effectiveness of the IK solution method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
