Kinematics Analysis and End Control Method of Space Soft Manipulator

doi:10.3901/JME.2025.01.013

Abstract

Abstract: To meet the increasing demand of space operation, a wire driven central rod type continuum manipulator is designed. The forward and inverse kinematics relationship among driving space, joint space and working space is obtained by analyzing the motion mechanism. The kinematic modeling method from single segment manipulator to multi-segment manipulator is introduced in detail. Then, a numerical solution of inverse kinematics based on Newton-Raphson method is proposed and multi-solution optimization is carried out. Finally, a set of experiments are carried out for forward kinematics and inverse kinematics respectively. In the forward kinematics model verification experiment, the maximum error of the manipulator end is 3.10% of the total length of the manipulator. In the inverse kinematics model verification experiment, the maximum error of the manipulator shape is 3.63% of the total length of the robot arm. The experimental results show that the kinematics model is accurate and the manipulator end pose control method is reasonable. It provides a theoretical basis for the motion control of wear driven continuum manipulator.

Key words: space manipulator, wire driven continuum manipulator, manipulator end pose, kinematic model

CLC Number:

TP242

ZHANG Yu, WANG Tianhong, JIN Tao, LIN Yangqiao, LI Long, TIAN Yingzhong, LUO Jun, ZHANG Quan. Kinematics Analysis and End Control Method of Space Soft Manipulator[J]. Journal of Mechanical Engineering, 2025, 61(1): 13-29.

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http://www.cjmenet.com.cn/EN/Y2025/V61/I1/13

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