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research-article

Design and Kinematic Analysis of a Novel Hybrid Kinematic Mechanism with 7-DOF and Variable Topology for Operation in Space

[+] Author and Article Information
Jun He

State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China
jhe@sjtu.edu.cn

Feng Gao

State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China
fengg@sjtu.edu.cn

Qiao Sun

School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China
qiaosun1234@gmail.com

1Corresponding author.

ASME doi:10.1115/1.4041584 History: Received April 15, 2018; Revised September 15, 2018

Abstract

We propose a novel hybrid robot with seven degrees of freedom (DOF) and variable topology for operation in space. Design specifications of the space robot are presented for the type synthesis of hybrid mechanisms. Based on GF set theory, three design rules are given, thus providing the design method of the 7-DOF hybrid space robot mechanism. Twenty-four combinations of the hybrid robotic mechanisms are obtained. The final synthesized configuration for the design of the space robot has a 3-DOF parallel module and a 4-DOF serial module with 4 revolute (RRRR) joints. The parallel module consists of a limb with universal- prismatic (UP) joints and two limbs with universal-prismatic-spherical (UPS) joints. The topology of the hybrid robot can be changed, and it will become an RPRR four-bar mechanism when it is folded for launch. The closed-form solution for the inverse displacement model is developed, and then the forward displacement equations are also obtained. After that, the Jacobian matrix is derived from the displacement model; the Jacobian matrix will analyze the singularity and workspace. We find that there are four singularities of mechanisms. The dexterous workspace of the hybrid robot is a good match for the grapple operation in space. An experiment with the prototype shows the present hybrid robot can grapple to a satellite-rocket docking ring and therefore validates the kinematic equations.

Copyright (c) 2018 by ASME
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