基于3RRS-Bricard复合空间捕获系统运动学分析

面向跨尺度、目标多样化的空间捕获任务，融合Bricard和3RRS机构的折展特性和几何特点对复合捕获系统运动学进行了分析。基于捕获系统的自由度和构型特点分析，通过构建Bricard与3RRS间的转换关系实现了捕获系统各机构间的运动学解耦。根据六棱柱模型，引入Bricard虚拟顶点，设计了面向复合空间捕获系统的运动学求解方法。在仿真环境下搭建捕获系统的运动学和动力学模型，并开展针对动态捕获目标的轨迹跟随实验。通过与基于闭环约束的阻尼最小二乘法（DLS）对比，验证了该运动学求解算法的有效性和先进性。实验结果表明，捕获系统可实现平稳的协同控制，运动过程中位置跟随精度优于4 mm，姿态精度优于0.035 rad。

Kinematics analysis of composite space capture systems based on 3RRS-Bricard

Aiming at cross-scale and multi-target spatial capture tasks, this study analyzes the kinematics of composite capture systems by combining the folding and geometric characteristics of Bricard and 3RRS mechanisms. Based on the analysis of the freedom degree and configuration characteristics of the capture system, the kinematic decoupling of the system is realized by constructing the transformation relationship between Bricard and 3RRS. According to the six-prism model and with the introduction of the Bricard virtual vertex, a kinematic solution method for the composite space capture system is designed. The kinematic and dynamic models of the capture system are built in the simulation environment, and the trajectory tracking experiments conducted for the dynamic capture targets. The effectiveness and advancement of the kinematic algorithm are verified through comparison with the Damped Least Squares (DLS) method based on the closed-loop constraint. The experimental results show that the capture system can achieve smooth cooperative control, with the position tracking accuracy and the attitude accuracy better than 4 mm and 0.035 rad, respectively.