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.
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Acknowledgement
The research is supported by the National Natural Science Foundation of China (Grant No. 91848101 and No. 91848202).
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Zhao, J., Zhao, Z., Yang, G., Yang, X., Liu, H. (2021). Inverse Kinematics of a Novel SSRMS-Type Reconfigurable Manipulator with Lockable Passive Telescopic Links. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_35
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DOI: https://doi.org/10.1007/978-3-030-89092-6_35
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