具有冗余度的三分支空间机器人的运动学分析

基于例如空间站等恶劣的应用环境，研制了一种具有冗余度的三分支空间机器人。该机器人的一个分支的末端可以和基座固联，另外两个分支可以进行控制来完成各种作业。在宇航员不在的情况下，该机器人可以代替宇航员对科学实验载荷进行操作。利用旋量理论对机器人的逆运动学进行了分析，并建立了统一的数学模型给出了其运动学优化、动力学优化以及容错控制的理论基础。基于球腕的封闭解，提出了一个简单的逆运动学模型。最后，通过计算机结果演示验证了所提出逆运动学模型的有效性。

Kinematics of a Trinal-Branch Space Robotic Manipulator with Redundancy

This paper presents a trinal-branch space robotic manipulator with redundancy, due to hash application environments, such as in the station. One end-effector of the manipulator can be attached to the base, and other two be controlled to accomplish tasks. The manipulator permits operation of science payload, during periods when astronauts may not be present. In order to provide theoretic basis for kinematics optimization, dynamics optimization and fault-tolerant control, its inverse kinematics is analyzed by using screw theory, and its unified formulation is established. Base on closed-form resolution of spherical wrist, a simplified inverse kinematics is proposed. Computer simulation results demonstrate the validity of the proposed inverse kinematics.