串并混联空间机械臂全自由度轨迹规划算法

目前，国内外对串并混联空间机械臂的研究较少；而且大多在舍弃冗余自由度的情况下进行轨迹规划.针对7自由度串并混联空间机械臂，提出了一种基于解析解、并且充分放开全部7个自由度的机械臂轨迹规划算法.该规划算法既扩大了串并混联空间机械臂的规划可达空间，又保证了规划的实时性，同时还保留了结构承载能力强的优点，可以充分发挥其作为空间抓捕用臂的优势.通过仿真和地面空间操作抓捕试验，验证了算法的有效性.

Trajectory Planning Algorithm for Series ParallelSpace Manipulator Based on the Full DOFs

There are few researches so far focusing on the series parallel manipulator for space manipulators, where also the trajectory planning algorithms are usually without resort to the redundant DOFs. This paper proposes a novel trajectory planning algorithm for a 7 DOFs series parallel space manipulator, which is based on the analytical solutions of the inverse kinematics, and makes use of all the 7 DOFs. The algorithm enlarges the reachable space of the manipulator, ensures real time implementation of the planning, and also maintains the high load capacity due to the series parallel structure. These facilitate the series parallel space manipulator to capture the targets during the space operation. Through simulations and experiments for space operation on the ground, the efficiency of the algorithm is verified.