肘部偏置七自由度空间机械臂运动学分析-kinematics analysis of elbow offset 7 - dof space manipulator.docxVIP

Abs Abstract -II- -II- Abstract With the development of space exploration, there are more and more space facilities to be launched. A space manipulator will perform more and more tasks in the future activities. Due to the great advantages on the obstacle avoidance, the singularities handling, the joint torque optimization, and so on, a redundant manipulator it is widely used in on-orbit servicing missions. In this thesis, the kinematics of a redundant manipulator is studied, and a simulation system is developed to verify the path planning and control algorithms. The main contents are as follows: Firstly, the necessity of a redundant manipulator is demonstrated based on the requirement of the on-orbit missions. The structure of redundant manipulator is determined according to the investigation and analysis of the singularity avoidance, workspace optimization, kinematic solution, the joint range and so on. Finally, a 7DOFs anthropomorphic manipulator configuration is designed based on the optimal manipulator that has six degrees of freedom. The seven revolute joints are arranged to form the shoulder, elbow, and wrist portions similar with the arm of a human being. The three joint axes of the shoulder are intersected at a single point, as well as the wrist. This type of the manipulator has simple kinematics which can be resolved analytical. When the trajectory of the manipulator is planned in Cartesian space, it is necessary to get its inverse solution. For a redundant manipulator, there will be infinite inverse solutions of joint angles corresponding to a given pose (position and attitude) of the end-effector. Let the angle of the joint 3 to be 0, we can get the inverse solution of the initial posture. This solution is taken as the reference configuration. By defining a parameter -- arm angle, all the feasible joint angles are resolved combining the arm angle and the reference configuration. In order to choose the desired configuration conveniently, three types of con