Nonlinear kinematics of space parallel robot with Bricard mechanism

Fei Liu; Chuandong Guo; Quan Hu; Xiaohui Li; Weihui Liu; Wen Wen; Lei Liu; Jingchao Zhao

doi:10.1016/j.actaastro.2023.04.030

Nonlinear kinematics of space parallel robot with Bricard mechanism

Fei Liu, Chuandong Guo, Quan Hu^*, Xiaohui Li, Weihui Liu, Wen Wen, Lei Liu, Jingchao Zhao

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

The space parallel robot with Bricard mechanism (SPRBM) is a complex mechanical device used for capturing free-floating space debris. It consists of a 3-RRS (Revolute-Revolute-Spherical Joints) parallel mechanism and a Bricard mechanism. Space debris can be captured by the interior space of the SPRBM. Compared with the conventional manipulator system, the SPRBM can capture a target with an arbitrary shape and motion state if the target can be enwrapped by the mechanism. In addition, it does not impose any stringent requirement on the locations of the capture points on the debris. However, the SPRBM has complex configurations and therefore nonlinear kinematics. This paper presents a detailed kinematics analysis of the SPRBM. The analysis involves the degrees of freedom, singularity, forward and inverse kinematics, workspace, and the trajectory planning method. These analyses and the results provide the fundamentals for modeling and controlling the SPRBM.

Original language	English
Pages (from-to)	367-380
Number of pages	14
Journal	Acta Astronautica
Volume	208
DOIs	https://doi.org/10.1016/j.actaastro.2023.04.030
Publication status	Published - Jul 2023

Keywords

Bricard mechanism
Kinematics
Parallel robot
Space robot

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10.1016/j.actaastro.2023.04.030

Cite this

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title = "Nonlinear kinematics of space parallel robot with Bricard mechanism",

abstract = "The space parallel robot with Bricard mechanism (SPRBM) is a complex mechanical device used for capturing free-floating space debris. It consists of a 3-RRS (Revolute-Revolute-Spherical Joints) parallel mechanism and a Bricard mechanism. Space debris can be captured by the interior space of the SPRBM. Compared with the conventional manipulator system, the SPRBM can capture a target with an arbitrary shape and motion state if the target can be enwrapped by the mechanism. In addition, it does not impose any stringent requirement on the locations of the capture points on the debris. However, the SPRBM has complex configurations and therefore nonlinear kinematics. This paper presents a detailed kinematics analysis of the SPRBM. The analysis involves the degrees of freedom, singularity, forward and inverse kinematics, workspace, and the trajectory planning method. These analyses and the results provide the fundamentals for modeling and controlling the SPRBM.",

keywords = "Bricard mechanism, Kinematics, Parallel robot, Space robot",

author = "Fei Liu and Chuandong Guo and Quan Hu and Xiaohui Li and Weihui Liu and Wen Wen and Lei Liu and Jingchao Zhao",

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AU - Liu, Fei

AU - Guo, Chuandong

AU - Hu, Quan

AU - Li, Xiaohui

AU - Liu, Weihui

AU - Wen, Wen

AU - Liu, Lei

AU - Zhao, Jingchao

PY - 2023/7

Y1 - 2023/7

N2 - The space parallel robot with Bricard mechanism (SPRBM) is a complex mechanical device used for capturing free-floating space debris. It consists of a 3-RRS (Revolute-Revolute-Spherical Joints) parallel mechanism and a Bricard mechanism. Space debris can be captured by the interior space of the SPRBM. Compared with the conventional manipulator system, the SPRBM can capture a target with an arbitrary shape and motion state if the target can be enwrapped by the mechanism. In addition, it does not impose any stringent requirement on the locations of the capture points on the debris. However, the SPRBM has complex configurations and therefore nonlinear kinematics. This paper presents a detailed kinematics analysis of the SPRBM. The analysis involves the degrees of freedom, singularity, forward and inverse kinematics, workspace, and the trajectory planning method. These analyses and the results provide the fundamentals for modeling and controlling the SPRBM.

AB - The space parallel robot with Bricard mechanism (SPRBM) is a complex mechanical device used for capturing free-floating space debris. It consists of a 3-RRS (Revolute-Revolute-Spherical Joints) parallel mechanism and a Bricard mechanism. Space debris can be captured by the interior space of the SPRBM. Compared with the conventional manipulator system, the SPRBM can capture a target with an arbitrary shape and motion state if the target can be enwrapped by the mechanism. In addition, it does not impose any stringent requirement on the locations of the capture points on the debris. However, the SPRBM has complex configurations and therefore nonlinear kinematics. This paper presents a detailed kinematics analysis of the SPRBM. The analysis involves the degrees of freedom, singularity, forward and inverse kinematics, workspace, and the trajectory planning method. These analyses and the results provide the fundamentals for modeling and controlling the SPRBM.

KW - Bricard mechanism

KW - Kinematics

KW - Parallel robot

KW - Space robot

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VL - 208

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JO - Acta Astronautica

JF - Acta Astronautica

ER -

Nonlinear kinematics of space parallel robot with Bricard mechanism

Abstract

Keywords

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